Electrical Equipment and Systems

Abstract

To provide an electric device and system that reduces energy loss and requires less maintenance. [Solution] The rotor (10) has a first end and a second end extending in opposite directions along the rotation axis, and a main body, the tip of the second end having the same or opposite polarity as the tip of the first end, and at least the outer periphery of the main body having multiple poles along its circumference. The stator (20) is configured with multiple coil bodies arranged in a spherical shape to contain the rotor without bearings. The rotor is levitated by passing a direct current through a coil body that may be located at a position extending from the first end of the rotor in a first axial direction or multiple coil bodies around it, and through a coil body that may be located at a position extending from the second end of the rotor in a second axial direction or multiple coil bodies around it, and current is passed through specific coil bodies that are located at equal distances from the coil bodies that may be located at positions extending from the first end of the rotor in the first axial direction and from the second end in the second axial direction.

Description

[Technical Field]

[0001] The present invention relates to an electric device and a system including the same. [Background technology]

[0002] According to the disclosure of Patent Document 1, a gyro stabilizer is realized using a gyroscope. The outer ring of the gimbal has a two-way swivel joint that connects to the vehicle frame, and the axis of this joint is oriented along the longitudinal axis of the vehicle. The inner ring of the gimbal has a two-way swivel joint that connects to the outer ring. The rotor shaft of the gyroscope has a two-way swivel joint that connects to the inner ring of the gimbal. The axes of all three swivel joints are perpendicular to each other.

[0003] According to the disclosure of Patent Document 2, the kinetic energy of the flywheel is efficiently amplified and stored by the circulation / amplification type interlocking of the motor, flywheel, and generator, and part of the electrical energy generated by the generator is circulated to the motor and reused for the rotational motion of the flywheel. For this purpose, pulleys are attached to the motor, flywheel, and generator, and the pulleys of the motor and flywheel are connected by a belt, and the pulleys of the flywheel and generator are also connected by a belt.

[0004] According to the disclosure of Non-Patent Document 1, damping of seismic waves by a gyroscopic damper (GD) that utilizes gyroscopic moment has been studied. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2019-532299 [Patent Document 2] Japanese Patent Application Publication No. 2023-138219 [Non-patent literature]

[0006] [Non-Patent Document 1] https: / / www.kochi-tech.ac.jp / library / ron / pdf / 2010 / 03 / 41 / a1110315.pdf Summary of the Invention [Problem to be solved by the invention]

[0007] In Patent Document 1, the outer ring of the gimbal and the vehicle frame, the inner ring of the gimbal and the outer ring of the gimbal, and the rotor shaft and the inner ring of the gimbal are connected by bearings. Because these three shafts are connected, bearing maintenance is required after a certain period of use.

[0008] In Patent Document 2, a motor, a flywheel, and a generator are each equipped with a pulley, and the pulleys of the motor and the flywheel are connected by a belt, and the pulleys of the flywheel and the generator are also connected by a belt. Because the motor, flywheel, and generator each have separate rotating shafts, it is essential to transmit rotational force by a belt.

[0009] Therefore, an object of the present invention is to provide an electric device and a system using the same that reduces the loss of rotational energy caused by bearings, belts, pulleys, etc. and requires less maintenance. [Means for solving the problem]

[0010] One concept of the present invention is as follows. a rotor comprising a first end and a second end extending in opposite directions along a rotation axis, and a main body having a diameter larger than the first end and the second end and disposed between the first end and the second end, wherein a tip of the second end has a pole that is the same as or different from a pole of the tip of the first end, and at least an outer circumferential edge of the main body has a plurality of poles along its circumference; a stator configured by arranging a plurality of coil bodies in a spherical shape so as to enclose the rotor without bearings; Equipped with an electric device configured to levitate the rotor by passing a direct current through the coil body that may be located at a position extending from the first end of the rotor in a first axial direction or a plurality of the coil bodies around it, and through the coil body that may be located at a position extending from the second end of the rotor in a second axial direction opposite to the first axial direction or a plurality of the coil bodies around it, and to rotate the rotor about its axis by passing current through specific coil bodies that are located at equal distances from the coil body that may be located at a position extending from the first end of the rotor in the first axial direction and the coil body that may be located at a position extending from the second end of the rotor in a second axial direction.

[0011] One concept of the present invention is a system in which the electric device is attached to a controlled object, such as a vehicle including a vehicle, a structure including a building, or a crane.

[0012] Other concepts of the present invention will be explained in more detail in the following detailed description of the preferred embodiments of the invention. [Effects of the Invention]

[0013] According to the present invention, an electric device includes a rotor and a stator, and is configured such that a plurality of coil bodies are arranged in a spherical shape so that the stator contains the rotor without bearings. The rotor has a first end and a second end extending in opposite directions along a rotation axis, and a main body portion having a larger diameter than the first end and the second end and provided between the first end and the second end. The tip of the second end has the same pole as the tip of the first end or a different pole from the tip of the first end, and at least the outer circumferential edge of the main body portion is configured to have a plurality of poles along its circumference. The rotor is levitated by passing a direct current through a coil body that may be located at a position extending outward in the axial direction from the first end and the second end of the rotor, or a plurality of coil bodies around it. The rotor is rotated around the axis by passing current through specific coil bodies that are located at equal distances from a coil body that may be located at a position extending in a first direction in the rotation axis direction from the first end of the rotor and a coil body that may be located at a position extending in a second direction in the rotation axis direction from the second end of the rotor. Therefore, the rotor is not supported by bearings such as bearings on the stator. Therefore, there is no need for maintenance of bearings, belts, pulleys, etc. Because there are no mechanical bearings, there is no need to worry about bearing deterioration, and the rotor can rotate at high speeds. Such an electric device can be made compact as a device for achieving the gyroscopic effect. With such an electric device, the rotational force of the rotor can be efficiently converted into electrical energy generated in the coil body, and regenerative power generation is less likely to decrease.

[0014] According to the present invention, a system is configured in which an electric device is provided in a controlled object. For example, when the uncontrolled object is a vehicle, such as a motorcycle, tricycle, or four-wheeled vehicle, and the rotor is levitated from the stator and rotating around its rotation axis, the separately installed sensor and stator change depending on the vehicle frame's attitude when the user drives the vehicle. At the same time, because the rotor is levitated, the rotor rotates with its rotation axis facing an initial direction, e.g., vertical, regardless of the stator's attitude. Therefore, the current flowing through some of the multiple coils is temporally changed to forcibly align the rotation axis with the sensor information from the sensor, i.e., the frame attitude, specifically, the direction determined from the rotation speed information about the axis set in the frame. This causes the rotor to change its direction of rotation in response to the frame attitude. However, since the rotating rotor attempts to maintain rotation while the frame attitude is stable, a force is applied from the rotor to the stator, and the precession effect (gyro effect) stabilizes the vehicle frame attitude. If the controlled object is a structure including a building, the structure can be subjected to vibration control, and if the controlled object is a crane, the attitude of the crane can be controlled and these attitudes can be stabilized. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing the concept of an electric device according to an embodiment of the present invention. [Figure 2A] FIG. 2A is a diagram illustrating an example of a rotor. [Figure 2B] FIG. 2B is a diagram showing a schematic of the stator. [Figure 2C] FIG. 2C is a diagram showing an outline of a stator, in which some of the multiple coil bodies are selected as inspection coil bodies. [Figure 3] FIG. 3 is a configuration diagram including a power supply system and a coil control unit for an electric machine according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing the configuration of an electric device according to an embodiment of the present invention. [Figure 5]FIG. 5 is a specific circuit diagram of the coil control unit. [Figure 6] FIG. 6 is a specific circuit diagram of a coil control unit different from that shown in FIG. [Figure 7] FIG. 7 is a configuration diagram including a power supply system and a coil control unit in an electric machine according to an embodiment of the present invention. [Figure 8] FIG. 8 is a configuration diagram of the coil control unit in FIG. 7 when the first circuit outputs a direct current and a single-phase alternating current. [Figure 9] FIG. 9 is a plan view showing the position where the coil body is attached to the stator. [Figure 10] FIG. 10 is a diagram for explaining the coil body through which the levitation current flows when the first end of the rotor overlaps with the coil body at address 0 in a plan view. [Figure 11] FIG. 11 is a bottom view showing the position where the coil body is attached to the stator. [Figure 12] FIG. 12 is a diagram for explaining the coil body through which the levitation current flows when the second end of the rotor overlaps the coil body at address N-0 in bottom view. [Figure 13] Figure 13 shows the polarity generated in the coil body when a levitation current is passed through it when the first end of the rotor overlaps with the coil body at address 0 in a plan view and the second end of the rotor overlaps with the coil body at address N-0 in a bottom view. [Figure 14A] FIG. 14A is a diagram showing an outline of the state of the northern hemisphere with respect to the positions where coil bodies are arranged in the stator. [Figure 14B] FIG. 14B is a diagram showing an outline of the southern hemisphere side with respect to the positions where the coil bodies are arranged in the stator. [Figure 14C] FIG. 14C is a diagram showing the state in which the rotation axis of the rotor is in the α-axis direction rotated by an angle θ1 from the X axis in the XY plane and tilted by an angle θ2 with respect to the Z axis (axis perpendicular to the X and Y axes). [Figure 15] FIG. 15 is a flowchart showing the operation of the electric machine device according to the embodiment of the present invention. [Figure 16] FIG. 16 is a detailed flowchart of STEP 10 in the flowchart of FIG. [Figure 17] FIG. 17 is a diagram schematically illustrating a vehicle as an example of a system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, several embodiments of the present invention will be described in detail with reference to the drawings. The matters described in the embodiments of the present invention can be appropriately modified in design without changing the scope of the present invention.

[0017] [Basic concept of the embodiment of the present invention] <Basic configuration of electrical equipment> 1 is a diagram showing the concept of an electric machine 1 according to an embodiment of the present invention. The electric machine 1 according to the embodiment of the present invention includes a rotor 10 and a stator 20.

[0018] The rotor 10 includes a first end 11, a second end 12, and a main body 13. The first end 11 and the second end 12 extend in opposite directions (outward) from each other along the rotation axis. The main body 13 is provided between the first end 11 and the second end 12. The second end 12 is provided on the opposite side of the main body 13 from the first end 11. As shown in the figure, the first end 11 and the second end 12 each have a curved surface facing the stator 20, for example, like an open umbrella. The main body 13 has a larger diameter than the first end 11 and the second end 12. As shown in the figure, the main body 13 has, for example, a disk shape. However, the rotor 10 itself may be composed of multiple parts or materials and may be approximately spherical as a whole. In this case, one axial end may be the first end 11, the other axial end may be the second end 12, and the spherical portion excluding, for example, the upper and lower ends may be configured as the main body portion 13.

[0019] The portion including first end 11 and second end 12 may be formed by a single permanent magnet, in which case one of first end 11 and second end 12 is an N pole and the other is an S pole. This is not a limitation, and first end 11 and second end 12 may each be formed by separate permanent magnets sandwiching main body 13, with the tip of first end 11 being, for example, an N pole and the tip of second end 12 being, for example, an S pole, or the tip of first end 11 being, for example, an N pole and the tip of second end 12 being, for example, an N pole. The tips of first end 11 and second end 12 may have the same pole or different poles.

[0020] In the following description, the tips of the first end 11 and the second end of the rotor 10 are described as having different poles.

[0021] The main body 13 has multiple poles along at least the outer periphery. FIG. 2A shows a case where four poles are provided by permanent magnets. The number of poles can be set arbitrarily, provided it is two or more. The second end 12 preferably has the same shape and dimensions as the first end 11. This is because, when controlling the rotation of the rotor 10, it is not necessary to adjust the magnitude of the current flowing through the coil body 21 or the magnitude of the current detected flowing from the coil body 21, since the first end 11 and the second end 12 have different shapes and dimensions. The outer periphery having multiple poles and the first end 11 and second end 12 are arranged on an imaginary, approximately concentric spherical surface.

[0022] The stator 20 is configured to have a spherical, or roughly spherical, shape with multiple coil bodies 21 arranged to enclose the rotor 10 without bearings. Here, a portion of the spherical shape is formed by the surfaces of each coil body 21 that are roughly perpendicular to the winding axis and face the center of the stator 20. The multiple coil bodies 21 are preferably arranged in a roughly spherical shape with a radius slightly longer than the imaginary concentric sphere of the rotor 10. The multiple coil bodies 21 are attached to a holder 22 as shown in FIG. 1, and the multiple coil bodies 21 form a roughly spherical inner surface. The multiple coil bodies 21 are arranged in a spherical shape with a certain radius and centered at a certain position. As shown in FIG. 2B, this spherical shape or spherical surface will be referred to as the "arrangement surface 23 of each coil body 21 in the stator 20." Furthermore, the top of this arrangement surface 23 will be referred to as the "north pole" P1, and the bottom will be referred to as the "south pole" P2. When the rotor 10 is positioned so that its center coincides with the center of the stator 20, that is, when the surfaces of the first end 11 and second end 12 of the rotor 10 facing the stator 20 are each equally spaced from the approximately spherical surface on which the coil body 21 is arranged, and when the outer edges of the main body 13 are each equally spaced from the approximately spherical surface on which the coil body 21 is arranged, each coil body 21 is located at an equal distance from the center of the rotor 10.

[0023] In the stator 20, the area where the rotor 10 is provided, for example the area surrounded by the holder 22, is preferably at least decompressed, and may be a vacuum. This is because, as the rotor 10 rotates, the resistance caused by gas, mainly air, remaining in the area within the stator 20 is reduced, and the loss of rotational energy of the rotor 10 is reduced. This is effective when the rotor 10 has a unique shape. As long as the air resistance of the rotor 10 is reduced, it is acceptable for the rotor 10 to contain a small amount of air.

[0024] The stator 20 is configured by, for example, dividing the holder 22 into halves so that the rotor 10 can be placed inside, and sealing the halves together to accommodate the rotor 10 inside. The number of divisions of the holder 22 is arbitrary.

[0025] Each coil body 21 is preferably arranged so that the winding axis of the coil body 21 coincides with an imaginary line extending from the center of the stator 20. This is because a magnetic field can be efficiently applied to the rotor 10 by passing a current through each coil body 21.

[0026] In the embodiment of the present invention, the stator 20 contains the rotor 10 without a bearing. That is, the stator 20 can surround the rotor 10 in a free state without a mechanical bearing.

[0027] Here, a direct current can be passed through the coil body 21 at the South Pole P2 or multiple coil bodies 21 around it, i.e., the coil body 21 facing the second end 12 of the rotor 10 (the end of the first end 11 and the second end 12 that is closer to the South Pole P2), to prevent the second end 12 of the rotor 10 from moving from the coil body 21 at the South Pole P2.

[0028] <Basic operation of electrical equipment> The basic operation of the electric machine 1 will now be described. The rotor 10 is levitated by passing a direct current through a coil body 21 that may be present in a first axial direction from the first end 11 of the rotor 10 or multiple coil bodies 21 around the coil body 21, and through a coil body 21 that may be present in a position extending from the second end 12 in a second axial direction or multiple coil bodies 21 around the coil body 21. At the same time, current is passed through specific multiple coil bodies 21 that are located at equal distances from the coil body 21 that may be present in a position extending from the first end 11 of the rotor 10 in the first axial direction and the coil body 21 that may be present in a position extending from the second end 12 of the rotor 10 in the second axial direction, thereby causing the rotor 10 to rotate around its axis. The first and second directions are opposite to each other and are both outward in the axial direction. A detailed description will be given below.

[0029] The reference state of the rotor 10 will be described with reference to FIG. 2B . The reference state is defined as follows: The rotor 10 is disposed within the stator 20 so that the center of the rotor 10 coincides with the center of the stator 20, the first end 11 faces the north pole point P1 of the mounting surface 23, and the second end 12 faces the south pole point P2 of the mounting surface 23. This state is referred to as the reference state of the rotor 10. The reference state is when the rotation axis is along the line connecting the north pole point P1 and the south pole point P2. The reference state also includes the case where the rotor 10 is fixed to the stator 20. When the rotor 10 is fixed to the stator 20 in this reference state, direct current is passed through the coil body 21 located at the north pole point P1 and the coil body 21 located at the south pole point P2. At this time, the direction of the current flowing through the coil body 21 located at the north pole point P1 and the coil body 21 located at the south pole point P2 is adjusted, respectively. As a result, in coil body 21 located at North Pole P1, the side facing the tip of first end 11 can be made to have a different pole from the tip of first end 11, and in coil body 21 located at South Pole P2, the side facing the tip of second end 12 can be made to have a different pole from the tip of second end 12. In this state, coil body 21 located at North Pole P1 and the tip of first end 11 pull each other, and coil body 21 located at South Pole P2 and the tip of second end 12 pull each other, and the force from coil body 21 acts approximately equally on the North Pole side and the South Pole side, so that the shaft formed by first end 11 and second end 12 can be supported as if by stator 20. Then, current is passed through the multiple coil bodies 21 around the coil body 21 at the North Pole P1 so as to generate magnetic fields in opposite directions, and current is passed through the multiple coil bodies 21 around the coil body 21 at the South Pole P2 so as to generate magnetic fields in opposite directions, and by increasing these currents, the magnetic fields exerted from the coil body 21 at the North Pole P1 to the first end 11 and from the coil body 21 at the South Pole P2 to the second end 12 are gradually reduced, and a repulsive force acts between the multiple coil bodies 21 around the coil body 21 at the North Pole P1 and the first end 11, and between the multiple coil bodies 21 around the coil body 21 at the South Pole P2 and the second end 12. This causes the rotor 10 to float from the stator 20.

[0030] In this reference state, the coil body 21 through which direct current flows may not be the coil body 21 located at the North Pole P1, but may be multiple coil bodies 21 located around the coil body 21 located at the North Pole P1. Similarly, the coil body 21 through which direct current flows may not be the coil body 21 located at the South Pole P2, but may be multiple coil bodies 21 located around the coil body 21 located at the South Pole P2. By passing current through multiple coil bodies 21 located around the coil body 21 located at the North Pole P1 and multiple coil bodies 21 located around the coil body 21 located at the South Pole P2, the above-mentioned complicated control may become unnecessary. This is particularly effective when the first end 11 and the second end 12 have a mushroom-like shape, as shown in FIG. 2A .

[0031] In the electric machine 1, when the rotor 10 is in the reference state and is floating above the stator 20, the outer periphery of the main body 13 of the rotor 10 faces a belt-shaped portion midway between the north pole P1 and the south pole P2 of the arrangement surface 23 of each coil body 21 of the stator 20. This belt-shaped portion is located on the "equatorial plane" S of the stator 20. E The specific coil bodies 21 are referred to as the coil bodies 21 on the equator plane S E The equatorial plane S E In the above, it may refer to every other coil body 21, every third coil body, or every other coil body 21, or any other number of coil bodies 21.

[0032] Equatorial plane S of stator 20 E A direct current or an alternating current is passed through part or all of the coil body 21 located at the end 11. By controlling the timing of passing the rotation drive current and adjusting the frequency in this manner, a repulsive or attractive force acts between the rotor 10 and the outer periphery of the main body 13, causing the rotor 10 to rotate about its axis, i.e., about the rotation axis connecting the first end 11 and the second end 12. At this time, the timing of passing current, frequency, etc. are adjusted.

[0033] A case where the rotor 10 is not in the reference state will be described. When the attitude of the rotor 10 is identified, that is, when the direction of the rotation axis is identified, the coil body 21 on the extension of the first direction of the rotation axis and the coil body 21 on the extension of the second direction of the rotation axis (second direction opposite to the first direction) are identified. By passing a levitation current through this identified coil body 21 or multiple coil bodies 21 around it, the rotor 10 can be levitated from the stator 20.

[0034] Once the coil bodies 21 that can exist on the extension of the rotation axis have been identified, the coil bodies 21 that face the outer periphery of the main body 13 of the rotor 10 can be identified by taking into account the shape and dimensions of the rotor 10. By passing a rotation drive current through this identified coil body 21, a repulsive force or an attractive force acts between the coil body 21 and the outer periphery of the main body 13, and the rotor 10 can be rotated around the rotation axis that connects the first end 11 and the second end 12.

[0035] <Action and effect> The effects of the embodiment of the present invention will be described below. The rotor 10 is levitated by passing a DC current through the coil bodies 21 near the first end 11 and the second end 12 of the rotor 10, i.e., the coil body 21 on the extension of the rotation axis or multiple coil bodies 21 around this coil body 21. Furthermore, by passing current through a specific coil body 21 that is equidistant from the pair of coil bodies 21, the rotor 10 can be rotated around the axis.

[0036] The rotor 10 is levitated by passing a direct current through the coil bodies 21 that may be present in a position extending from the first end 11 of the rotor 10 in a first axial direction and the coil bodies 21 that may be present in a position extending from the second end 12 in a second axial direction (the coil bodies 21 facing the first end 11 and the second end 12, respectively, and the coil bodies 21 close to the first end 11 and the second end 12), or a plurality of such coil bodies around them, and the rotor 10 can be rotated about its axis by passing current through a plurality of specific coil bodies 21 that are equidistant from the coil body 21 that may be present in a position extending from the first end 11 of the rotor 10 in the first axial direction and the coil body 21 that may be present in a position extending from the second end 12 of the rotor 10 in the second axial direction. It is not necessary for all of the specific plurality of coil bodies 21 to be energized; for example, every other or every third coil body 21 may be any number of coil bodies 21. The first direction is the direction from the center of the main body 13 to the first end 11, and the second direction is the direction from the center of the main body 13 to the second end 12. This allows the electric device 1 to be used as an electric motor.

[0037] Therefore, with the electric machine 1 shown in Fig. 1, even if the rotor 10 is not rotatably supported on the stator 20 by bearings or other bearings, by passing a levitation current through the coil bodies 21 near the first end 11 and second end 12 of the rotor 10 and passing a rotation drive current through another specific coil body 21 equidistant from the pair of coil bodies 21, the rotor 10 can be rotated while controlling the orientation of the rotation axis. There is no loss of rotational energy due to friction or other factors between the rotor 10 and the stator 20. Maintenance parts such as bearings, belts, and pulleys can be reduced as much as possible.

[0038] 1, when the rotor 10 is rotating without a rotational drive current flowing through the multiple coil bodies 21, a magnetic field acts on the poles on the outer periphery of the main body 13 and on the coil bodies 21 closest to them. Electric energy can be recovered from the electromotive force generated in these coil bodies 21. In other words, the electric machine 1 can also be used as a generator.

[0039] According to the electric machine device 1 shown in FIG. 1, when the rotor 10 is rotating without a rotational drive current flowing through the multiple coil bodies 21, a magnetic field acts from the poles on the outer periphery of the rotor 10 to the coil bodies 21 closest to them. By detecting the electromotive force generated in these coil bodies 21, and thus the current from the coil bodies 21, the rotation speed of the rotor 10 can be determined from the period of time change in this current. Furthermore, from the detected current, taking into account the shape and dimensions of the rotor 10, the orientation of the rotation axis of the rotor 10 and even the direction of rotation can be determined. The electric machine device 1 does not require the installation of a separate dedicated sensor for detecting the orientation of the rotation axis, the direction of rotation, or the rotation speed.

[0040] 1, when the rotor 10 is rotating without a rotational drive current flowing through the multiple coil bodies 21, a magnetic field acts on the coil bodies 21 that are close to the poles on the outer periphery of the rotor 10. Comparing the electromotive forces generated in the coil bodies 21, and therefore the currents from the coil bodies 21, can be used as data on the degree of proximity of the rotor 10 to the stator 20.

[0041] Regarding the detection of the direction and rotation speed of the rotation axis of the rotor 10 and the degree of proximity of the rotor 10 to the stator 20, it is possible to control the flow of rotational drive current to coil bodies 21 that are in a specific positional relationship among the multiple coil bodies 21 whose outer edges of the main body 13 of the rotor 10 face each other, and to flow rotational drive current to the other coil bodies 21.

[0042] 2C is a schematic diagram of the stator 20, illustrating a state in which some of the multiple coil bodies 21 are selected as inspection coil bodies 21a. Although not shown in FIG. 2C, the rotor 10 is arranged concentrically with the stator 20, with the first end 11 facing the north pole P1 of the arrangement surface 23 and the second end 12 facing the south pole P2 of the arrangement surface 23.

[0043] 2C, among the multiple coil bodies 21 on the equatorial plane, the inspection coil bodies 21a can be selected to be four, with the inspection coil bodies 21a positioned at 90 degrees from the center. The number of inspection coil bodies 21a is arbitrary.

[0044] The inspection coil body 21a is located on the equatorial plane S of the stator 20. E It is not necessary that the coil body 21 always be located on the same plane as the inspection coil body 21. A part of the coil bodies 21 on the equatorial plane of the stator 20 is temporarily selected as the inspection coil body 21a, and after a predetermined short time has elapsed, the attitude of the rotation axis of the rotor 10 can be detected, so that the next inspection coil body 21a can be selected from the plurality of coil bodies 21 located on a plane midway between the first end 11 and the second end 12 and intersecting with a plane perpendicular to the rotation axis.

[0045] By detecting the current from the inspection coil body 21a, it is possible not only to identify the orientation of the rotation axis of the rotor 10 but also to detect the displacement of the center of the rotor 10 from the center of the stator 20. Therefore, by controlling the coil body 21 through which the rotation drive current flows and the magnitude of the current, it is possible to align the center of the rotor 10 with the center of the stator 20.

[0046] The electric device 1 according to an embodiment of the present invention can be used to pass either a levitation current or a rotational drive current, or to recover energy by converting rotational energy into electrical energy, or as a proximity sensor for detecting the distance between the rotor 10 and the stator 20, or as a detection sensor for detecting the direction of the rotation axis of the rotor 10, or as a detection sensor for a coil body facing a plane equidistant from the first end 11 and the second end 12 in a plane perpendicular to the rotation axis of the rotor 10.

[0047] [Specific configuration example] <Configuration of power supply system and coil control unit part 1> Fig. 3 is a configuration diagram of an electric machine 1 according to an embodiment of the present invention, including a power supply system 30 and a coil control unit 24. As shown in Fig. 3, the electric machine 1 includes a power supply system 30. A plurality of coil control units 24 are provided in one-to-one correspondence with each of the coil bodies 21. Here, it is preferable that the coil control unit 24 for each coil body 21 is the same regardless of the position of the coil body 21.

[0048] The power supply system 30 is for supplying electricity to the plurality of coil bodies 21. The power supply system 30 includes a first circuit 31, a second circuit 32, and a DC power supply .

[0049] The first circuit 31 is connected to a DC power supply 34 and is configured to be able to output DC to some of the multiple coil bodies 21 so as to rotate the rotor 10 about its axis. The second circuit 32 is connected to the DC power supply 34 and adjusts the DC input from the DC power supply 34 and outputs the adjusted DC to some of the multiple coil bodies 21 so as to levitate the rotor 10 from the stator 20. A coil control unit 24 is provided in each of the coil bodies 21 to control the output from the first circuit 31 and the second circuit 32 to some of the multiple coil bodies 21.

[0050] The electric device 1 includes a wiring group 40 for supplying electricity from the power supply system 30 to at least some of the plurality of coil bodies 21. The wiring group 40 includes a first wiring 41 and a second wiring .

[0051] The first wiring 41 can be connected to the first circuit 31 and is used to pass a rotational drive current to the multiple coil bodies 21 to apply a rotational force to the rotor 10. The second wiring 42 can be connected to the second circuit 32 and is used to pass a levitation current to the multiple coil bodies 21 to levitate the rotor 10. Each of the first wiring 41 and the second wiring 42 is composed of multiple wires. The coil control unit 24 controls the corresponding coil body 21 to be connected or disconnected to the first wiring 41 and the corresponding coil body 21 to be connected or disconnected to the second wiring 42. By turning on / off a switch inside the coil control unit 24, the levitation current is controlled to be passed from the first wiring 41 to the coil body 21 and the rotational drive current is controlled to be passed from the second wiring 42 to the coil body 21. The direction of the current flowing through the coil body 21 can also be reversed. Details will be described later.

[0052] The DC power supply 34 preferably includes a secondary battery. The DC power supply 34 is provided so as to be detachable from the electrical device 1 and can be charged by a charging device. The DC power supply 34 can be connected to a power cable (not shown) and may be charged externally.

[0053] The power supply system 30 preferably includes a third circuit 33. The third circuit 33 receives input of electromotive forces generated in the multiple coil bodies 21 due to rotation of the rotor 10, converts the input into direct current, and outputs the converted power to a DC power supply 34. The multiple coil bodies 21 and the third circuit 33 may be connected by wiring separate from the first wiring 41. However, the output from the first circuit 31 and the input to the third circuit do not need to be simultaneous. Therefore, the electric machine device 1 further includes a switching unit 35 that controls either the output terminal of the first circuit 31 or the input terminal of the third circuit 33 to be connected to the first wiring 41. The first wiring 41 is used both for supplying power to the coil bodies 21 and for regeneration to recover electromotive forces generated in the coil bodies 21. Therefore, the output from the first circuit 31 to the first wiring 41 and the input from the first wiring 41 to the third circuit 33 are switched. The switching unit 35 may be configured to be provided in the power supply system 30.

[0054] The electric device 1 includes a control unit 50 separate from the power supply system 30, which outputs signals for controlling the coil control unit 24 and the first and second circuits 31 and 32. When the switching unit 35 is provided, a control signal is output to the switching unit 35 so that either the output terminal of the first circuit 31 or the input terminal of the third circuit 33 is connected to the first wiring 41.

[0055] As described above, the coil body 21 selected as the inspection coil body 21a generates an electromotive force when the rotor 10 is rotating. A current caused by this generated electromotive force is input to the second circuit 32 via a wiring ("SEN" in FIG. 3) included in the second wiring 42. The first circuit 31 can be controlled based on this input current (signal).

[0056] The first circuit 31 will now be described. The first circuit 31 is configured to pass either direct current or alternating current. The alternating current may be either single-phase or multi-phase, such as three-phase. When the first circuit 31 outputs direct current, it is configured to adjust the magnitude of the output voltage and current. When the first circuit 31 outputs alternating current, the first circuit 31 is configured to include an inverter circuit. In this case, as described above, the output from the inspection coil body 21a adjusts the output frequency of the inverter circuit based on the rotation speed of the rotor 10. As shown in this example, currents generated by the rotation of the rotor 10 in any number of coil bodies 21 positioned at a predetermined angle around the axis defined by the first end 11 and second end 12 of the rotor 10 are input to the second circuit 32, and the inverter circuit included in the first circuit 31 is controlled according to the input current (e.g., frequency).

[0057] The first circuit 31 outputs DC when the rotor 10 starts to rotate, and then switches from DC output to AC output when the rotor 10 reaches a certain rotation speed, that is, when the period of the output signal from the inspection coil body 21a reaches a specified value. The ON / OFF of a transistor for converting DC to AC in the inverter circuit is controlled, and the AC current is output.

[0058] In this way, the inverter circuit included in the first circuit 31 is controlled as follows: That is, among the multiple coil bodies 21, any number of coil bodies 21 positioned at a predetermined angle around the first end 11 and the second end 12 as axes are set as inspection coil bodies 21a, no current flows from the first circuit 31 to the inspection coil bodies 21a, and the current generated by the rotation of the rotor 10 is input to the second circuit 32 via the second wiring 42, and the rotation drive current output from the inverter circuit is controlled according to the frequency or period of the current input to the third circuit 33.

[0059] When the first circuit 31 outputs a current of multiple phases, such as three phases, the first circuit includes a three-phase inverter circuit.

[0060] The second circuit 32 includes a rectifier circuit such as a bridge circuit, and since the electromotive force of the coil body 21 is relatively small, it includes circuits for boosting the rectified electricity to charge the secondary battery and for managing the battery of the secondary battery included in the DC power supply 34.

[0061] By controlling the ON / OFF of the switch SW in the coil control unit 24, signals due to the electromotive forces generated in each of the multiple coil bodies 21 are input to the second circuit 32 via the second wiring 42. The attitude and direction of the rotation axis along which the first end 11 and second end 12 of the rotor 10 extend can be detected. These detection signals are input to the first circuit 31 and used to control the output from the first circuit 31.

[0062] FIG. 4 is a diagram showing the configuration of an electric machine device 1 according to an embodiment of the present invention. In the electric machine device 1 according to the embodiment of the present invention, as shown in FIG. 4, a sensor 60 is connected to a control unit 50. The sensor 60 includes a gyro sensor, a sensor for detecting tilt, and the like. The coordinate axes defined on the stator 20 are associated with the coordinate axes assumed for the data output from the sensor 60. Here, the control unit 50 may be incorporated as a multiprocessor (MPC: Micro Processing Unit) in a first circuit 31 in the power supply system 30.

[0063] <Specific configuration of coil control unit 1> Fig. 5 is a specific circuit diagram of the coil control unit 24. Fig. 5 assumes that the first circuit 31 outputs DC and single-phase AC. The first wiring 41 may include either ACL or DC0 as a first power supply line and either ACN or G as a second power supply line. The second wiring 42 includes the first DC power supply line DC1 and the second DC power supply line DC2 connected to the second circuit 32 to pass the levitation current, as well as the ground line G and the sensor line SEN.

[0064] The coil control unit 24 includes a plurality of switches SW, which are connected so that either the first wiring 41 or the second wiring 42 can be connected to the coil body 21. The switches SW have one end and the other end, and are turned ON / OFF by a control signal. The connections of the switches SW are as follows:

[0065] One end of the first switch SW1 is connected to the second DC power supply line DC2. One end of the second switch SW2 is connected to the second power supply line ACN or G. One end of the third switch SW3 is connected to the first DC power supply line DC1. One end of the fourth switch SW4 is connected to the first power supply line ACL or DC0. One end of the fifth switch SW5 is connected to the other end of each of the first switch SW1, the second switch SW2, and the third switch SW3. The other end of the fifth switch SW5 is connected to one end of the coil body 21. One end of the sixth switch SW6 is connected to the other end of each of the first switch SW1, the second switch SW2, and the third switch SW3. The other end of the sixth switch SW6 is connected to the other end of the coil body 21. One end of the seventh switch SW7 is connected to one end of the coil body 21. The other end of the seventh switch SW7 is connected to the ground line G. One end of the eighth switch SW8 is connected to the other end of the coil body 21. The other end of the eighth switch SW8 is connected to the ground line G. One end of the ninth switch SW9 is connected to the sensor line SEN. The other end of the ninth switch SW9 is connected to the other ends of the first switch SW1, the second switch SW2, and the third switch SW3, and to one ends of the fifth switch SW5 and the sixth switch SW6. The other end of the fourth switch SW4 is connected to the other end of the coil body 21.

[0066] Through the wiring of the switches SW as described above, the other end of each of the first switch SW1, the second switch SW2, and the third switch SW3 is connected to one end of the fifth switch SW5 and the sixth switch SW6. The other end of the fifth switch SW5, one end of the seventh switch SW7, and one end of the coil body 21 are connected to each other. The other end of the coil body 21, the other end of the fourth switch SW4, the other end of the sixth switch SW6, and one end of the eighth switch SW8 are connected to each other.

[0067] With the above wiring, when a rotation drive current is passed through the coil body 21, when a levitation current is passed through the coil body 21, when the rotation speed of the coil body 21 is picked up, and when the coil body 21 is used as the inspection coil body 21a, the ON / OFF states of each switch SW are as shown in Table 1. When not controlled, each switch SW is in the OFF state. Furthermore, when switching from one state to another, a switch that is in the ON state is temporarily turned OFF, as a general rule. When a rotation drive current is passed, a direct current (DC power supply) or an alternating current (single-phase AC power supply) is used. When a levitation current is passed, the ON / OFF states of each switch SW differ depending on whether the first DC power supply line DC1 or the second DC power supply line DC2 is used for excitation. Furthermore, the second polarity means that the direction of the magnetic field generated by the direction of the current is opposite to that of the first polarity.

[0068] [Table 1]

[0069] When a rotational driving current is passed through the coil body 21, whether it is a DC power supply or a single-phase AC power supply, the switching unit 35 connects the first circuit 31 to the first wiring 41 and turns on the second switch SW2, the fifth switch SW5, and the fourth switch SW4. A current flows through the path of the first power supply line ACL or DC0, the fourth switch SW4, the coil body 21, the fifth switch SW5, the second switch SW2, and the second power supply line ACN or G.

[0070] When a levitation current is passed through coil body 21 and excited by first DC power supply line DC1, the third switch SW3, fifth switch SW5, and eighth switch SW8 are turned ON. A current flows through the first DC power supply line DC1, third switch SW3, fifth switch SW5, coil body 21, eighth switch SW8, and ground line G. To reverse the current flowing through coil body 21, the fifth switch SW5 and eighth switch SW8 are turned OFF, and the sixth switch SW6 and seventh switch SW7 are turned ON. Then, a current flows through the first DC power supply line DC1, third switch SW3, sixth switch SW6, coil body 21, seventh switch SW7, and ground line G.

[0071] When a levitation current is passed through coil body 21 and excited by second DC power supply line DC2, the first switch SW1, fifth switch SW5, and eighth switch SW8 are turned ON. A current flows through the second DC power supply line DC2, first switch SW1, fifth switch SW5, coil body 21, eighth switch SW8, and ground line G. To reverse the current flowing through coil body 21, the fifth switch SW5 and eighth switch SW8 are turned OFF, and the sixth switch SW6 and seventh switch SW7 are turned ON. Then, a current flows through the second DC power supply line DC2, first switch SW1, sixth switch SW6, coil body 21, seventh switch SW7, and ground line G.

[0072] When picking up the rotation speed of coil body 21, or when coil body 21 is used as inspection coil body 21a, fifth switch SW5, eighth switch SW8, and ninth switch SW9 are turned ON. The electromotive force generated in coil body 21 can be output via sensor line SEN, ninth switch SW9, fifth switch SW5, coil body 21, eighth switch SW8, and ground line G. Of course, sixth switch SW6, seventh switch SW7, and ninth switch SW9 may also be turned ON. The electromotive force generated in coil body 21 can be output via sensor line SEN, ninth switch SW9, sixth switch SW6, coil body 21, seventh switch SW7, and ground line G.

[0073] In order to charge DC power supply 34 via third circuit 33 from electromotive force generated in coil body 21 by rotation of rotor 10 without passing electricity through coil body 21, switching unit 35 connects third circuit 33 to first wiring 41 and turns on second switch SW2, fifth switch SW5, and fourth switch SW4. The electromotive force generated in coil body 21 can be output via first power supply line ACL or DC0, fourth switch SW4, coil body 21, fifth switch SW5, second switch SW2, and second power supply line ACN or G.

[0074] <Specific configuration of coil control unit 2> FIG. 6 is a specific circuit diagram of the coil control unit 24. In FIG. 6, it is assumed that the first circuit 31 outputs three-phase AC. When the first circuit 31 outputs three-phase AC, the first wiring 41 in FIGS. 3 and 4 can be replaced with wiring for the U phase, V phase, and W phase as shown in FIG. 6. That is, the first wiring 41 includes a first power supply line U, a second power supply line V, and a third power supply line W. The following describes differences from FIG. 5. The second switch SW2 and the fourth switch SW4 are not used in FIG. 6, so they are not shown.

[0075] Since the first circuit 31 outputs a three-phase AC current, the i-th coil control unit 24 i, the (i+1)th coil control unit 24 i+1 and the (i+2)th coil control unit 24 i+2 is a set, where i is any natural number.

[0076] i-th coil control unit 24 i , one end of the eleventh switch SW11 is connected to the first power supply line U. One end of the twelfth switch SW12 is connected to the second power supply line V. The other end of the eleventh switch SW11 is connected to one end of the coil body 21. The other end of the twelfth switch SW12 is connected to the other end of the coil body 21. One end of the thirteenth switch SW13 is connected to the other end of the coil body 21. As described above, one end of the coil body 21, the other end of the fifth switch SW5, one end of the seventh switch SW7, and the other end of the eleventh switch SW11 are connected. The other end of the coil body 21, the other end of the sixth switch SW6, one end of the eighth switch SW8, the other end of the twelfth switch SW12, and one end of the thirteenth switch SW13 are connected.

[0077] (i+1)th coil control unit 24 i+1 , one end of the 21st switch SW21 is connected to the second power supply line V. One end of the 22nd switch SW22 is connected to the third power supply line W. The other end of the 21st switch SW21 is connected to one end of the coil body 21. The other end of the 22nd switch SW22 is connected to the other end of the coil body 21. One end of the 23rd switch SW23 is connected to the other end of the coil body 21. As described above, one end of the coil body 21, the other end of the fifth switch SW5, one end of the seventh switch SW7, and the other end of the 21st switch SW21 are connected. The other end of the coil body 21, the other end of the sixth switch SW6, one end of the eighth switch SW8, the other end of the 22nd switch SW22, and one end of the 23rd switch SW23 are connected.

[0078] (i+2)th coil control unit 24 i+2, one end of the 31st switch SW31 is connected to the third power supply line W. One end of the 32nd switch SW32 is connected to the first power supply line U. The other end of the 31st switch SW31 is connected to one end of the coil body 21. The other end of the 32nd switch SW32 is connected to the other end of the coil body 21. One end of the 33rd switch SW33 is connected to the other end of the coil body 21. As described above, one end of the coil body 21, the other end of the fifth switch SW5, one end of the seventh switch SW7, and the other end of the 31st switch SW31 are connected. The other end of the coil body 21, the other end of the sixth switch SW6, one end of the eighth switch SW8, the other end of the 32nd switch SW32, and one end of the 33rd switch SW33 are connected.

[0079] The other end of the thirteenth switch SW13, the other end of the twenty-third switch SW23, and the other end of the thirty-third switch SW33 are connected together.

[0080] In the embodiment shown in FIG. 6, when a rotation driving current is applied to the coil body 21, the switching unit 35 connects the first circuit 31 and the first wiring 41, and the i-th coil control unit 24 i In this case, the eleventh switch SW11 and the twelfth switch SW12 are turned on, and the (i+1)th coil control unit 24 i+1 In this case, the 21st switch SW21 and the 22nd switch SW22 are turned on, and the (i+2)th coil control unit 24 i+2 In this state, the 31st switch SW31 and the 32nd switch SW32 are turned on. As a result, the i-th coil control unit 24 i , the (i+1)th coil control unit 24 i+1 , the (i+2)th coil control unit 24 i+2 Each coil body 21 to which is connected is delta-connected.

[0081] In the embodiment shown in FIG. 6, when a rotation driving current is applied to the coil body 21, the switching unit 35 connects the first circuit 31 and the first wiring 41, and the i-th coil control unit 24 i In this case, the eleventh switch SW11 and the thirteenth switch SW13 are turned on, and the (i+1)th coil control unit 24i+1 In this case, the 21st switch SW21 and the 23rd switch SW23 are turned on, and the (i+2)th coil control unit 24 i+2 In this case, the 31st switch SW31 and the 33rd switch SW33 are turned on. As a result, the i-th coil control unit 24 i , the (i+1)th coil control unit 24 i+1 , the (i+2)th coil control unit 24 i+2 The coil bodies 21 to which the coils 21 are connected are Y-connected.

[0082] In the circuit diagram shown in Fig. 6, when a rotation driving current is passed through the coil body 21, the ON / OFF states of each switch SW are as shown in Table 2. Of course, if only a delta connection or only a Y connection is used, there is no need to provide unnecessary switches, and no wiring is required.

[0083] When picking up the number of rotations of the coil body 21, or when using the coil body 21 as an inspection coil body 21a, the ON / OFF of each switch SW described with reference to FIG. 5 and Table 1 may be changed as appropriate.

[0084] [Table 2]

[0085] <Coil control by coil control unit> The following describes the control of the coil body 21 by the coil control unit 24. To excite the coil body 21, the first power supply line ACL or DC0 and the second power supply line ACN or G that constitute the first wiring 41, and the first DC power supply line DC1 and the second DC power supply line DC2 that constitute the second wiring 42 are utilized.

[0086] The first DC power supply line DC1 and the second DC power supply line DC2 are used to levitate the coil body 21, and the distance between the rotor 10 and the stator 20 is controlled by the magnitude of the current. When the rotor 10 is stopped, each switch SW in the coil control unit 24 can be set to the OFF state.

[0087] Furthermore, when the rotor 10 is stopped, if it is desired to fix either the first end 11 or the second end 12 of the rotor 10 in the reference state by the magnetic field from the coil body 21 located at the south pole P2 of the stator 20, a specific switch is turned ON so that a DC current flows only in the coil control unit 24 corresponding to that coil body 21, and a current flows in the opposite direction to the levitation current.

[0088] The first power supply line ACL or DC0 and the second power supply line ACN or G supply DC until the rotor 10 reaches a certain rotation speed from a stopped state. After that, they switch to AC power with a frequency that matches the rotation speed of the rotor 10, and the AC frequency gradually increases. The switching between DC and AC is performed by the first circuit 31.

[0089] When stopping the rotation of rotor 10 and halting the power supply, before turning off the power, the rotating shaft is stopped at the position of the lower vertex of stator 20, and the rotating shaft is attracted to the lower vertex by the magnetic field. A direct current is passed through coil body 21 located on an extension of the rotating shaft in this manner. Here, the lower vertex corresponds to the aforementioned south pole P2. To restart rotation of rotor 10, when a direct current is passed through coil body 21 located on an extension of the rotating shaft of rotor 10, rotor 10 is momentarily levitated by magnetic repulsion rather than magnetic attraction.

[0090] <Power supply system and coil control unit configuration 2> 7 is a configuration diagram of the electric machine 1 according to the embodiment of the present invention, including a power supply system 30 and a coil control unit 24. As shown in FIG. 7, the electric machine 1 includes a power supply system 30 and a coil control unit 24. Unlike the embodiments shown in FIGS. 3 to 6, the coil control unit 24 is not provided for each coil body 21, but is connected to the output end of a wiring group 40 from the power supply system 30, preferably connected to the output end of the wiring group 40 via a switching unit 35. The coil control unit 24 is provided with individual coil control units 24 for the wiring group 40, the number of which is equal to the number of coil bodies 21. j and individual coil control section 24 j7, individual wiring 25 is connected to one end and the other end of each coil body 21. In Fig. 7, the power supply system 30, the switching unit 35, and the wiring group 40 are the same as or correspond to those in Fig. 4, and their explanations will be omitted to avoid duplication. j is any natural number from 1 to the maximum number of coil bodies 21.

[0091] FIG. 8 shows the coil control unit 24 in FIG. 7 when the first circuit 31 outputs DC and single-phase AC. j 5. Here, each switch SW is the same as in FIG. 5, so detailed description will be omitted.

[0092] When the first circuit 31 outputs a three-phase AC, the first wiring 41 shown in FIG. 7 may be replaced with wiring for the U phase, V phase, and W phase as shown in FIG.

[0093] In this way, the power supply system 30 and the plurality of coil bodies 21 can be connected via the coil control unit 24, and the power supply system 30 and the coil control unit 24 are connected by the first wiring 41 and the second wiring 42, and the coil control unit 24 and the plurality of coil bodies 21 are connected by the individual wiring 25 for each coil body 21. j 8, a plurality of switches SW (SW1 to SW9 in FIG. 8) are connected to each of the plurality of coil bodies 21 between the first wiring 41 and the coil body 21 and between the second wiring 42 and the coil body 21. Then, the coil control unit 24 controls the plurality of switches SW so that the first wiring 41 is connected to the first circuit 31 to pass a rotational drive current to specific coil bodies 21 for applying a rotational force to the rotor 10, and so that the second wiring 42 is connected to the second circuit 32 to pass a levitation current to the plurality of coil bodies 21 (excluding the coil body through which the rotational drive current flows) for levitating the rotor 10.

[0094] <Positional relationship between rotor and coil body> The positional relationship between the rotor and the coil body will now be described. Fig. 9 is a plan view showing the position where coil body 21 is attached to stator 20. In Fig. 9, the numbers between double quotation marks ('), for example, '0', are address numbers assigned as the position of coil body 21. One vertex (north pole) shown in Fig. 9 is numbered zero, and the numbers increase by one in a spiral clockwise direction around it in a plan view.

[0095] In the holder 22 to which the coil body 21 is attached, the northern hemisphere is symmetrical to the southern hemisphere, so for the sake of explanation, numbers will be assigned from both the north pole side and the south pole side.

[0096] 10 is a diagram for explaining the coil body 21 through which the levitation current flows when the first end 11 of the rotor 10 overlaps the coil body 21 at address 0 in a plan view. Now, when the first end 11 of the rotor 10 overlaps the coil body 21 at address 0 in a plan view, the levitation current flows through the coil body 21 surrounded by the dashed dotted line in FIG. 10, that is, the coil bodies 21 at addresses 1, 2, 3, 4, 5, and 6 around the coil body 21 at address 0.

[0097] FIG. 11 is a bottom view showing the position where coil body 21 is attached to stator 20. In FIG. 11, the numbers between quotation marks ('), for example, '0', are address numbers assigned to the position of coil body 21. One vertex (south pole) shown in FIG. 11 is numbered zero, and the numbers increase by one in a counterclockwise spiral around it when viewed from the bottom. Addresses on the southern hemisphere are different from addresses on the northern hemisphere and are written as 'N-0', etc., but in FIGS. 11 and 12, the 'N-' is omitted and numbers are simply written as '0', etc.

[0098] 12 is a diagram illustrating the coil body 21 through which the levitation current flows when the second end 12 of the rotor 10 overlaps the coil body 21 at address N-0 in bottom view. Now, when the second end 12 of the rotor 10 overlaps the coil body 21 at address N-0 in bottom view, the levitation current flows through the coil body 21 surrounded by the dashed dotted line in Fig. 12, i.e., the coil bodies 21 at addresses N-1, N-2, N-3, N-4, N-5, and N-6 around the coil body 21 at address N-0.

[0099] 13 is a diagram showing the polarity (polarity of the side facing the first end 11 and the second end 12) of the coil body 21 generated by passing a levitation current through the coil body 21 when the first end 11 of the rotor 10 overlaps the coil body 21 at address 0 in a plan view and the second end 12 of the rotor 10 overlaps the coil body 21 at address N-0 in a bottom view. A levitation current is passed through the coil body 21 described with reference to FIG. 10 so that the polarity becomes the same as that of the first end 11 of the rotor 10, causing the first end 11 of the rotor 10 to repel the coil body 21. A levitation current is passed through the coil body 21 described with reference to FIG. 12 so that the polarity becomes the same as that of the second end 12 of the rotor 10, causing the second end 12 of the rotor 10 to repel the coil body 21.

[0100] When the first end 11 of the rotor 10 overlaps with the coil body at address 0 in a plan view, the levitation current may be passed through the coil bodies 21 at addresses 1, 2, 3, 4, 5, and 6 around the coil body 21 at address 0, as well as through the coil bodies 21 at addresses 7, 8, 9, A, B, C, D, E, F, 10, 11, and 12 around them. With regard to the coil bodies 21 at addresses 7, 8, 9, A, B, C, D, E, F, 10, 11, and 12, the levitation current may be passed through every other coil body 21 (for example, the coil bodies 21 at addresses 7, 9, B, D, F, and 11).

[0101] When the second end 12 of the rotor 10 overlaps with the coil body at address 0 in bottom view, the levitation current may be passed through the coil bodies 21 at addresses 1, 2, 3, 4, 5, and 6 around the coil body 21 at address 0, as well as through the coil bodies 21 at addresses 7, 8, 9, A, B, C, D, E, F, 10, 11, and 12 around them. With respect to the coil bodies 21 at addresses 7, 8, 9, A, B, C, D, E, F, 10, 11, and 12, the levitation current may be passed through every other coil body 21 (for example, the coil bodies 21 at addresses 7, 9, B, D, F, and 11).

[0102] Once the coil body 21 on the extension of the rotation axis of the rotor 10 is identified, the coil body 21 facing the outer periphery of the main body 13 of the rotor 10 can be identified from the shape and dimensions of the rotor 10 and the shape and dimensions of the coil body 21 of the stator 20. Therefore, a rotation drive current can be applied to the coil body 21 facing the outer periphery of the main body 13 of the rotor 10.

[0103] <Relationship between the tilt of the rotor axis and the coil to be excited> Next, a case where the rotation axis of the rotor 10 is tilted will be described. Fig. 14A shows a schematic view of the stator 20 from the northern hemisphere with respect to the position where the coil body 21 is arranged, Fig. 14B shows a schematic view of the stator 20 from the southern hemisphere with respect to the position where the coil body 21 is arranged, and Fig. 14C shows a state where the rotation axis of the rotor 10 is in the α-axis direction rotated by an angle θ1 from the X-axis in the XY plane and tilted by an angle θ2 with respect to the Z-axis (an axis perpendicular to the X-axis and Y-axis). Note that the numbers between "'" and "'" in Figs. 14A and 14B indicate the position (address) of the coil body 21. The "N-" mark is omitted in Fig. 14B.

[0104] As shown in Figure 14A, on the north pole side, a levitation current is passed through each of the coil bodies 21 at addresses 0, 2, B, C, D, and 4 around the coil body 21 at address 3, which may be located on an extension of the first end 11 of the rotor 10.

[0105] As shown in Figure 14B, on the south pole side, a levitation current is passed through each of the coil bodies 21 at addresses 0, 6, 11, 10, F, and 4 around the coil body 21 at address 5, which may be located on an extension of the second end 12 of the rotor 10.

[0106] The levitation current is passed through the coil body 21 so that the polarity of the levitation current is the same as the polarity of either the first end 11 or the second end 12 that the coil body 21 faces.

[0107] Coil body 21 through which a rotation driving current flows has already been described with reference to FIG. 2B.

[0108] <Coil control unit> The coil control unit 24 can be configured as a semiconductor chip. The semiconductor chip can be configured by configuring a digital circuit on a silicon substrate, forming multiple layers (including insulating layers and conductive layers) on the coil substrate, providing conductive parts that become part of the coil body 21 on the layers, and electrically connecting the conductive parts above and below. In this case, an iron core is provided in the center of the conductive part so as to pass through the silicon substrate.

[0109] <Operation flow of electrical equipment> Next, the operation of the electric machine device 1 will be described. Fig. 15 is a flow chart showing the operation of the electric machine device 1 according to the embodiment of the present invention. Fig. 16 is a detailed flow chart of STEP 10 in the flow chart of Fig. 15. When a levitation current and a rotation drive current are applied, control signals from the control unit 50 control the coil control unit 24, the switching unit 35, the switch SW between the coil body 21 and the first wiring 41, the switch SW between the coil body 21 and the second wiring 42, and the switch SW between the coil body 21 and the individual wiring 25.

[0110] Now, assume that the rotation axis is oriented vertically, and a magnetic field is applied to one end (e.g., second end 12) of rotor 10 to fix rotor 10 to stator 20 (STEP 1). For example, a direct current is passed through coil body 21 that is located on a vertical line of second end 12. By passing a direct current so that the side of coil body 21 facing second end 12 has a polarity opposite to that of second end 12, coil body 21 exerts an attractive force on second end 12, and second end 12 is fixed to coil body 21. The process returns to STEP 1 (NO in STEP 2) until a start signal for electric device 1 is input, such as by pressing a button to start operation of electric device 1.

[0111] Assume that a start signal for the electric machine device 1 is input, for example, by pressing a button to start the operation of the electric machine device 1 (STEP 2). Then, the magnetic field acting on one end (e.g., second end 12) of the rotor 10 is gradually reduced. In the example described above, the current flowing through the coil body 21 located on the vertical line of the second end 12 is gradually reduced (STEP 3).

[0112] A coil body 21 existing on an extension of the rotation axis of the rotor 10 is identified, and a levitation current is passed through the multiple coil bodies 21 surrounding this identified coil body 21 (STEP 4). At this time, the current passed through the coil bodies 21 that was gradually reduced in STEP 3 may be reduced to zero. A direct current is passed through the multiple coil bodies 21 so that the sides of the multiple coil bodies 21 facing the first end 11 have the same polarity as the first end 11, and a direct current is passed through the multiple coil bodies 21 so that the sides of the multiple coil bodies 21 facing the second end 12 have the same polarity as the second end 12. As a result, the multiple coil bodies 21 exert a repulsive force on the first end 11, and the multiple coil bodies 21 exert a repulsive force on the second end 12, causing the rotor 10 to levitate from the stator 20.

[0113] A rotational drive current is passed through a plurality of coil bodies 21 that are equidistant from the pair of coil bodies 21 identified in STEP 4 (STEP 5). Then, the rotor 10 rotates due to the magnetic force between the outer periphery of the main body 13 of the rotor 10 and the coil bodies 21 through which the rotational drive current is passing.

[0114] In this way, while the rotor 10 is floating above the stator 20 and rotating, the next process (STEP 7) is performed until a stop signal for the electric device 1 is input (NO in STEP 6), for example, by pressing a button to stop the operation of the electric device 1.

[0115] It is determined whether the amount of change in the sensor data is within an allowable range (STEP 7). If it is within the allowable range, the process returns to the determination in STEP 6. At this time, a levitation current is passed through the coil body 21 identified in STEP 4, and a rotation drive current is continued to be passed through multiple coil bodies 21 that are equidistant from the pair of identified coil bodies 21.

[0116] If the amount of change in the sensor data is not within the allowable range, that is, if it is outside the allowable range, the next process (STEP 8) is performed.

[0117] When the rotation axis of the rotor 10 is tilted to align with the direction determined by the sensor data, a coil body 21 existing on an extension of the tilted rotation axis is identified. A levitation current is passed through the multiple coil bodies 21 surrounding this identified coil body 21 (STEP 8). A DC current is passed through the multiple coil bodies 21 so that the side facing the first end 11 has the same polarity as the first end 11, and a DC current is passed through the multiple coil bodies 21 so that the side facing the second end 12 has the same polarity as the second end 12. As a result, the rotation axis of the rotor 10 tilts in the direction determined by the sensor data.

[0118] A rotational drive current is passed through a plurality of coil bodies 21 equidistant from the pair of coil bodies 21 identified in STEP 8 (STEP 9). Then, due to the magnetic force between the outer periphery of the main body 13 of the rotor 10 and the coil bodies 21 through which the rotational drive current is passing, the rotation axis of the rotor 10 is tilted in STEP 8, and the rotor 10 rotates around the axis.

[0119] After the processing of STEP 8 and STEP 9, the process returns to STEP 6.

[0120] In this way, when the rotor 10 is floating above the stator 20 and rotating, if a stop signal for the electric device 1 is input (STEP 6), such as by pressing a button to stop the operation of the electric device 1, the next process (STEP 10) is performed.

[0121] In STEP 10, the rotation axis of the rotor 10 is gradually controlled so that it changes from its current tilt direction to a vertical direction. Specifically, this is done as follows.

[0122] The time T required for the rotation axis of rotor 10 to change from the current tilt direction to the vertical direction is divided into n equal parts, i.e., Δt=T / n (STEP 10A), and t=0 (STEP 10B).

[0123] The coil body 21 existing on the extension line of the rotation axis is identified, and regenerative energy is recovered from a specified plurality of coil bodies 21 existing equidistant from a pair equidistant from the identified coil body 21 (STEP 10C). At this time, no rotation driving current is passed through any of the coil bodies 21.

[0124] A coil body 21 existing on an extension of the rotation axis is identified, and a levitation current is passed through a plurality of coil bodies 21 surrounding this identified coil body (STEP 10D).

[0125] Next, t=t+Δt is set, and the tilt direction of the rotation axis is changed to the next direction (STEP 10E). That is, STEP 10C, STEP 10D, and STEP 10E are repeated until t=T (Yes in STEP 10F).

[0126] In this way, the rotation axis of the rotor 10 is controlled to gradually point in the vertical direction. The magnetic field acting on one end (e.g., the second end 12) or the other end (e.g., the first end 11) of the rotor 10 is gradually increased (STEP 11). For example, the current flowing through the coil body 21 located on the vertical line of the second end 12 is gradually increased.

[0127] With the rotation axis oriented vertically, a magnetic field is applied to one end (e.g., second end 12) or the other end (e.g., first end 11) of rotor 10 to fix rotor 10 to stator 20 (STEP 12). For example, a direct current is passed through coil body 21 located on a vertical line of second end 12. By passing a direct current so that the side of coil body 21 facing second end 12 has a polarity opposite to that of second end 12, coil body 21 exerts an attractive force on second end 12, and second end 12 fixes coil body 21.

[0128] In STEP 1, STEP 3, STEP 11, and STEP 12, the magnetic field is generated by passing a current through the coil body 21, but this is not limited to this, and either the north pole or the south pole of the permanent magnet may be moved closer to or farther away from the second end 12. The current passing through the coil body 21 and the movement of the permanent magnet may be used in combination. When the rotor 10 is fixed to the stator 20, only the permanent magnet may act on the rotor 10.

[0129] [System according to an embodiment of the present invention] In a system according to an embodiment of the present invention, an electric machine device 1 is attached to a controlled object, which is a controlled object. When the controlled object is a vehicle, the system according to an embodiment of the present invention is configured by providing the electric machine device 1 on the frame of a motorcycle, tricycle, or four-wheeled vehicle. FIG. 17 is a schematic diagram showing a vehicle 100 as an example of a system according to an embodiment of the present invention. In FIG. 17, the vehicle 100 is shown as a stand-up motorcycle, but it may also be a regular bicycle. When the rotor 10 is floating above the stator 20 and rotating around its rotation axis, and the user is driving the vehicle, the separately attached sensors (such as a gyro sensor or a level) and the stator 20 change in accordance with the attitude of the vehicle frame. At the same time, because the rotor 10 is floating, the rotor 10 rotates around its rotation axis, for example, in the vertical direction, regardless of the attitude of the stator 20. Therefore, the current flowing through some of the coils 21 is controlled to change over time so as to forcefully align the direction of the rotation axis with the direction determined from sensor information from the sensor, i.e., the frame attitude, specifically, the rotational speed information about the axis fixed to the frame. This causes the rotor 10 to change its direction of rotation in accordance with the frame attitude. However, since the rotating rotor 10 attempts to maintain rotation while the frame attitude is stable, a force is applied from the rotor 10 to the stator 20, and the vehicle frame is stabilized by the precession effect (gyro effect).

[0130] In a system according to an embodiment of the present invention, an electric machine device 1 is attached to a controlled object, which is an object to be controlled. Examples of controlled objects include vehicles, such as those used for industrial transport, buildings, and cranes, in addition to the vehicles described above. When the controlled object is a structure fixed to the ground, such as a building, one or more electric machines 1 are attached to the framework of the building body, and a force acts from the rotor 10 to the stator 20, stabilizing the framework of the building body through the precession effect (gyro effect), thereby enabling vibration control of the building body. When the controlled object is a crane, a force acts from the rotor 10 to the stator 20, stabilizing the crane through the precession effect (gyro effect), allowing its posture to be controlled.

[0131] In a system according to an embodiment of the present invention, when one or more electric devices 1 are attached to a controlled object, the direction in which the first end 11 and the second end 12 of the rotor 10 in the electric device 1 face does not necessarily have to be vertical as a reference state, and the first end 11 and the second end 12 of each rotor 10 in the multiple electric devices 1 may face in the same direction or perpendicular to each other as a reference state. The direction in which the first end 11 and the second end of each rotor 10 face can be set by taking into consideration the type and direction of vibrations applied to the controlled object from outside.

[0132] The electric machine device 1 and system according to the embodiments of the present invention are not limited to the above-described features or the features shown in the drawings. Well-known or commonly used technologies not described herein may be added or substituted, or parts of the configuration may be deleted. A system including the electric machine device 1 may include vehicles, buildings, and cranes, as well as structures including buildings (e.g., bridges), industrial robots, and non-industrial robots, such as amusement robots, airplanes, and drones, as long as the system includes the electric machine device 1 and is capable of posture control. The technical scope of the present invention is not limited to the scope defined by the claims, but also encompasses equivalents. [Explanation of symbols]

[0133] 1: Electrical equipment 10: Rotor 11: First end 12: Second end 13: Main body 20: Stator 21: Coil body 21a: Inspection coil body 22: Holder 23: Arrangement surface of each coil body in the stator 24: Coil control unit 30: Power system 31: First circuit 32: Second circuit 33: Third Circuit 34:DC power supply 40: Wiring group 41: First wiring 42: Second wiring

Claims

1. An electrical device attached to a controlled object to control the attitude of the controlled object, The electrical device is a rotor comprising a first end and a second end extending in opposite directions along a rotation axis, and a main body having a diameter larger than that of the first end and the second end and disposed between the first end and the second end, wherein a tip of the second end has a pole that is the same as or different from that of the tip of the first end, and at least an outer circumferential edge of the main body has a plurality of poles along its circumference; a stator configured by arranging a plurality of coil bodies in a spherical shape so as to enclose the rotor without bearings; Equipped with The main body of the rotor is disk-shaped, an electric device configured to levitate the rotor by passing a direct current through the coil body that may be located at a position extending from the first end of the rotor in a first axial direction or a plurality of the coil bodies around it, and through the coil body that may be located at a position extending from the second end of the rotor in a second axial direction opposite to the first axial direction or a plurality of the coil bodies around it, and to rotate the rotor about its axis by passing current through specific coil bodies that are located at equal distances from the coil body that may be located at a position extending from the first end of the rotor in the first axial direction and the coil body that may be located at a position extending from the second end of the rotor in a second axial direction.

2. The coil body further includes a power supply system for supplying electricity to the coil body. The power supply system includes: A DC power supply; a first circuit connectable to the DC power supply and capable of outputting electricity to a specific plurality of the coil bodies so as to rotate the rotor about an axis; a second circuit connectable to the DC power supply, adjusting a DC current input from the DC power supply, and outputting the adjusted DC current to some of the plurality of coil bodies so as to levitate the rotor from the stator; The electric device according to claim 1 , comprising:

3. a wiring group for supplying electricity from the power supply system to some of the plurality of coil bodies, and a plurality of coil control units; The wiring group includes: a first wiring that can be connected to the first circuit and that passes a rotation drive current to a specific plurality of the coil bodies to apply a rotational force to the rotor; a second wiring that can be connected to the second circuit and that passes a levitation current to some of the plurality of coil bodies to levitate the rotor; Including, The electrical device of claim 2, wherein each of the plurality of coil control units is provided on a corresponding coil body, and the coil control unit controls the coil body to be connected or disconnected to the first wiring, and the coil body to be connected or disconnected to the second wiring.

4. The power supply system and the plurality of coil bodies may be connected via a coil control unit, the power supply system and the coil control unit are connected by a first wiring and a second wiring, the coil control unit and the plurality of coil bodies are connected by individual wiring for each coil body; In the coil control unit, a plurality of switches are connected to the plurality of coil bodies, respectively, between the first wiring and the coil body and between the second wiring and the coil body; 3. The electric device according to claim 2, wherein the coil control unit controls the plurality of switches for each of the coil bodies so that the first wiring is connected to the first circuit to pass a rotational drive current through specific plurality of the coil bodies to impart a rotational force to the rotor, and so that the second wiring is connected to the second circuit to pass a levitation current through some of the plurality of coil bodies excluding the coil body through which the rotational drive current flows to levitate the rotor.

5. the power supply system further includes a third circuit that converts electromotive forces generated in specific coil bodies by rotation of the rotor into direct current and outputs the direct current to the DC power supply, The electric device according to claim 2, further comprising a switching unit that switches between a connection between an output terminal of the first circuit and wiring that can be connected to a specific plurality of the coil bodies, and a connection between an input terminal of the third circuit and wiring that can be connected to a specific plurality of the coil bodies.

6. the power supply system further includes a third circuit that converts electromotive forces generated in specific coil bodies by rotation of the rotor into direct current and outputs the direct current to the DC power supply, a wiring group is provided for supplying electricity from the power supply system to some of the plurality of coil bodies; The wiring group includes: a first wiring that can be connected to the first circuit and that passes a rotation drive current to a specific plurality of the coil bodies to apply a rotational force to the rotor; a second wiring that can be connected to the second circuit and that passes a levitation current to some of the plurality of coil bodies to levitate the rotor; Including, the electrical device further includes a switching unit that switches between a connection between the first circuit and the first wiring and a connection between the third circuit and the first wiring, The electric device according to claim 2 , wherein a plurality of switches are controlled to connect or disconnect the first wiring and the second wiring for each of the plurality of coil bodies.

7. 3. The electric device according to claim 2, wherein a current generated by rotation of the rotor in any number of the coil bodies among the plurality of coil bodies, the any number of coil bodies being positioned at a predetermined angle around an axis defined by the first end and the second end of the rotor, is input to the second circuit, and an inverter circuit included in the first circuit is controlled according to the input current.

8. 8. The electric device according to claim 1, wherein the electric device is configured to pass a current through the coil body that faces either the first end or the second end of the rotor to apply an attractive force to the coil body, thereby causing the rotation axis of the rotor to face an initial direction and to stop close to the stator.

9. 9. The electric device according to claim 8, wherein the electric device is configured to levitate any number of the coil bodies that may be present around an extension of the rotation axis of the rotor by passing a levitation current through the coil bodies while reducing the current for applying an attractive force to the coil bodies.

10. An electric device according to any one of claims 1 to 7; the controlled object to which the electrical device is attached; A system comprising:

11. The system according to claim 10 , wherein the controlled object is any one of a vehicle including a vehicle, a structure including a building, and a crane.

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