EP0183710A1 - Moteur pas a pas a aimants permanents - Google Patents

Moteur pas a pas a aimants permanents

Info

Publication number
EP0183710A1
EP0183710A1 EP19850901725 EP85901725A EP0183710A1 EP 0183710 A1 EP0183710 A1 EP 0183710A1 EP 19850901725 EP19850901725 EP 19850901725 EP 85901725 A EP85901725 A EP 85901725A EP 0183710 A1 EP0183710 A1 EP 0183710A1
Authority
EP
European Patent Office
Prior art keywords
rotor
scr
permanent magnet
stepping motor
magnets
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19850901725
Other languages
German (de)
English (en)
Inventor
Joseph Kallos
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0183710A1 publication Critical patent/EP0183710A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/12—Control or stabilisation of current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
    • H02K37/10—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type
    • H02K37/12—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets
    • H02K37/14—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets with magnets rotating within the armatures

Definitions

  • the present invention is directed to a permanent magnet direct current (d.c.) stepping motor apparatus.
  • Direct current stepping motors as such are characterized by their simplicity of design, and ability to translate electrical pulses into mechanical rotary motion. They are used in engineering applications where discrete angular output shaft rotary motion must be precisely controlled. The output shaft rotates or moves through a specific angu ⁇
  • Stepping angles may vary from 5 to 90 degrees, and the stepping rates may vary from about 100 steps per .second for larger units to 350 steps per second for smaller motors.
  • the rotor of stepper motors have the
  • the commonly available permanent magnet (pm) stepper motor has a wire wound stator with a pm rotor which delivers low torque.
  • the direct current stepper motors are generally divided into three types, namely permanent magnet, variable n 0 reluctance, and permanent magnet-hybrid.
  • the variable reluctance stepper motor is typically the most economical multipole soft iron rotor.
  • the variable reluctance stepper is suited for low inertial loads, and small incremental angular movement.
  • the permanent magnet hybrid stepper motor is formed from a combination of the variable reluctance and permanent magnet stepper motors and is capable of the higher torque capacities at relatively small incremental angles ranging up to 15 degrees.
  • the pm hybrid stepper motor has provided good performance in the appropriate applications.
  • the present application deals with a permanent magnet stepper motor apparatus having a high torque capability and the ability to provide incremental angular motion ranging up to as much as 180 degrees, but preferably in the 45 degree to 90 degree range.
  • the present disclosure describes a permanent magnet motor and apparatus which has the ability to provide constant high torque while employing a wound stator and a permanent magnet type rotor.
  • the pm stepper motor described herein is used in applications where high output shaft power is a primary concern and not the control of discrete movement of the output shaft through a given angle.
  • the present invention is directed ⁇ o a permanent magnet stepping motor apparatus which is intended to provide high constant torque and speed through a substan- tially large stepping angle.
  • the constant torque and speed is maintained throughout the stepping angle by virtue of an electronic control device, which constitutes a feed back control system.
  • the present invention relates to a permanent magnet stepping motor apparatus having a rotor with a homogenous core which surrounds a longitudinal axis of the rotor.
  • a rotor with a homogenous core which surrounds a longitudinal axis of the rotor.
  • stator surrounding the rotor, which has a plurality of cylindrically spaced rows of elongate electrically conductive coils, radially disposed outside of the rotor.
  • the coils are connected by electromagnetic coupling of the spatially distributed, localized magnetic flux about the outer circumference of the outer segmented ring.
  • timing apparatus which provides a periodic timing pulse in response to rotation of the rotor and there is an electronic control device which is responsive to the periodic timing pulse for providing a sequential flow of current to the conductive coils proportional to the speed of the rotor and rotation.
  • the electromagnetic flux produced by the conductive coils is a function of the current flowing through the conductive coils and is therefore directly proportional to the generation of periodic timing puls * es over one revolu- tion of the rotor.
  • the electronic control device includes a switching module device for sequentially conducting direct current to the electrically conductive coils in response to a periodic timing pulse. And there is a connection between the switching module device to the plurality of electri ⁇ cally conductive coils.
  • stator will broadly refer to a device that generates an electromagnetic field.
  • electrically conductive • coils will specifically refer to a component of the stator.
  • FIG. 1 represents an end view of the electrical motor illustrating the preferred embodiment of the present invention.
  • FIG. 2 represents an isometric view of the electrical motor as taken from FIG. 1, to illustrate the preferred embodiment and construction of the stator windings.
  • FIG. 3 represents an enlarged isometric view of the rotor construction of the present invention, as taken from FIG. 2 with the stator windings removed for clarity.
  • FIG. 3a represents an end view of the rotor taken from FIG. 1, to illustrate the groups of magnets which form the segmented ring.
  • FIG. 3b represents an enlarged isometric view of an individual magnet, as taken from FIG. 2.
  • FIG. 4 represents an electrical schematic of the electronic 'control device of the present invention.
  • FIG. 5 represents an alternative embodiment of the permanent magnet stepping motor taken along the lines of FIG. 2 to illustrate the stators.
  • FIG. 5a represents an enlarged, partial view of the alternate embodiment as taken from FIG. 5, to illustrate one construction of one of the electrically conductive coils.
  • FIG. 6 represents another end view of the permanent magnet stepping motor taken along the lines of FIG. 1 to illustrate the spatially distributed localized magnetic flux generated by the group of magnets about the segmented ring of the rotor.
  • FIG. 7 represents a schematic view of the permanent magnet stepping motor to illustrate the basic operation of the motor.
  • the present invention relates to a permanent magnet stepping motor apparatus which includes an electronic control device.
  • FIG. 1 there is shown an end view of an electrical pm stepper motor 10. It is pointed out that the present specification and explanation of the construction and operations of the permanent magnet pm stepping motor 10 as such is detailed to describe a specific pm motor design, however, it is felt that the advantages and benefits derived from the present descrip ⁇ tion will be helpful in the design and construction of other types of .motors as well.
  • the motor 10 as such has a rotor 12, and a stator 14, each respectively having specific structure and interrelating operation and control as provided from an electronic control device represented i n FIG. 4.
  • FIGS. 1 and- 2 we see an end view and an isometric view of the pm motor 10.
  • the rotor 12 is composed of an homogenous core 18 which in the preferred embodiment surrounds a longitudinal axis 20 representing the geometric center of the entire pm motor 10.
  • the stator 14 is com ⁇ posed of a fixed structure 22 which is appropriately mechanically attached to supports, and structure securing the pm motor 10 to the applied mounting (as previously mentioned) .
  • the electrically conductive coils 24 are arranged in the present preferred embodiment, at a spaced apart angle of 45 degrees so that there is a total of eight spaced apart rows of the coils 24 radially disposed as such.
  • An individual row 26 of the coils 24 (FIG. 2), is made of a plurality of coils 27, in the present case numbering five. It will be discussed below that each of these five coils are connected electrically in series. Each row may be connected in series or in parallel with every other row as will be explained below.
  • the coils 24 are each constructed of a suitable electrically conductive wire such as copper which is wound about an insulator such as air or a ferro-magnetic material 28.
  • This construction is similar in nature to that of a simple solenoid device, and may be app ' lied in different forms as will be described in an alternate embodiment to be described later in the present specification.
  • the electrically conductive coils 24 will be referred to as solenoid devices 24, each having the same meaning and purpose. It will be noted that there are five solenoid devices 24 arranged in an individual row 26 of solenoid devices such as the individual row 26, however, there could be more, or less depending on the amount of torque and speed desired and the size requirements of the pm motor 10. Referring to FIGS.
  • the homogenous core 18 which makes up the supportive body of the rotor 12 is manufactured of a suitable dielectric meterial such as fiberglass. It will be noted that fiberglass, being a light weight material, vastly improves the weight to horse- power ratio in the present invention when compared to other motors with similar horsepower characteristics.
  • the body of the rotor 12 has been radially divided into an eight secti->.__L_arrangement 30 where each section such as a section 32 is designated with an identifying letter such as "A".
  • each section is also representative of an unlike and like pole condition as determined by a group of magnets 34 which are the "A" group, or "A" section and so forth.
  • the group of magnets 34 represents a like group of magnets of North polarity, while a group 36 represents an unlike group of magnets of South polarity.
  • This arrangement of groups of magnets creates a segmented ring 44 composed of the repeating alternate groups of like and unlike groups of magnets which total eight groups.
  • the present arrangement has four magnets within each separate group of magnets such as 34 and 36, and there is a total of sixteen magnets in each group, such as the group 34 of sixteen magnets, each magnet being a like, (North) polarity.
  • the pm motor 10 acco odate a 90 degrees stepping angle, and even a 180 degree stepping angle which would benefit from considera ⁇ tion for another arrangement of groups of magnets to accomplish the desired rotation of the..rotor 12.
  • FIG. 6 it will be seen that there is a spatially distributed, localized magnetic flux 50 surrounding an outer circumference 52 of the rotor 12, and the outer segmented ring 44.
  • An individual magnetic flux 54 is seen between the sections A and B, and is repeated eight times between the like and unlike poles of the groups of magnets such as the group 34 and 36.
  • FIG. 3b there is shown a single magnet 56, as it is removed from an outer surface 58 of the homogenous core 18.
  • the magnet 56 has a -.ymmetrical trapezoidal- shape 60, for side by side alignment with the remainder of magnets mounted upon the outer surface 58 of the homogenous core 18.
  • Each magnet is aligned, with an end 62, juxtaposed to an end 64 of an adjoining magnet 66 to form a line of magnets 68, which as mentioned previously total four so that there are sixteen similar magnets in the group of magnets 46 and so forth.
  • a shaft 70 which is fixed against rotation, and mounted to receive a ball bearing 72, which is suitably pressed into an end .74 of the homogenous core 18, (at both ends), in order to support the rotor 12 for rotation. While this arrangement is convenient, there is an optional arrangement (not shown) for rotatably supporting the rotor 12 by having the shaft 70 formed from the material of the homogenous core 18, and by having the ball bearing 72 mounted to suitable structure attached to the fixed structure 22, in turn holding the stator 14. It will be noted in reference to FIG.
  • the magnets previously defined in their trapizoidal shape have parallel sides which alternately face the stator 14 on outside surface 76 (referring to the single magnet 56) , and inside surface 78, for attachment to the outer surface 58, of the homogenous core 18. Therefore, the outside surface 58 of the core 18 as such is preferably
  • T multisurfaced in flat areas in the present case for receiving thirty two circumferentially arranged separate magnets * of the shape mentioned heretofore; this, making the task of bonding the subject magents to the core 18 easier to accomplish.
  • a timing device 80 for providing a periodic timing pulse which is suitably attached ' to a rear side 82 of the rotor 12 for rotation with the rotor 12.
  • the timing device 80 is shaped in the form of a circular disk element 84 having a plurality of radially disposed * electrical contacts 86 on the surface of the disk element 88.
  • the inventor has determined that the best mode of the invention is achieved using the timing device described herein because it achieves a minimization of expense aR.d-_.complexity. -Further- more, the stators consume large amounts of pulsed current. The inductive response to this produces considerable electromagnetic interference within the proximity of the timing device. Low signal output devices such as optical encoders are susceptible to these types of interferences.
  • the timing device used herein provides a high signal- to-noise ratio and is therefore unaffected by the electromagnetic interference the stators produce.
  • FIG. 4 An electronic control device 100 of the invention is illustrated in FIG. 4, with those portions of the circuit having any relationship with the structure illustrated in FIGS. 1-3 and FIGS. 5-7 bearing identical reference 0 designations as used in those figures. .
  • the electronic control circuit 100 will be contained with ⁇ in an enclosure (unshown) mounted within the proximity of the pm stepping motor 10 as illustrated in FIGS. 2 and 5.
  • the operation of the electronic control 5 device 100 can be described in the following manner.
  • the direct current (d.c.) entering the system is constant.
  • the d.c. is -switched between two sets of electrically conductive coils 24 during rotation of the rotor 12.
  • intermittent discrete square wave current 0 pulses flow to the electrically conductive coils.
  • the switching of d.c. is accomplished by alternately turning on and turning off the silicon control rectifiers (SCRS) designated in FIG. 4 as items 116 and 118.
  • SCRS silicon control rectifiers
  • the electri- .cally conductive coils also designated as S2, S4, S6 and j S8 in FIG. 4 are switched on by SCR 116 during alternate 45 degree rotation of the rotor 12.
  • a conductive coil current conductor connects, the conductive coils to an output terminal 175 on a switching module 102 in which the SCR 116 is contained.
  • the electrically conductive 0 coils also designated as SI, S3, S5 and S7 in FIG. 4 are switched on by SCR 118 during the subsequent 45 degree rotation of the rotor 12.
  • the average d.c. flowing through each set of the electrically conductive coils in FIG. 4, of S2, S4, S6 and S8, or SI, S3, S5 and S7 depends on the 5 length of time the SCRS 116 and 118 are on, respectively.
  • the electronic control device 100 illustrated in FIG. 4 is responsive to the periodic timing pulses for provid ⁇ ing a sequential flow of d.c. to the electrically conductive coils 24.
  • the electronic control device includes two electrically identical switching modules 102 and 104.
  • the switching modules 102 and 104 serve to provide d.c. current to the plurality of the electrically conductive coils 24 designated as SI through S8. in FIG. 4.
  • switching module 102 provides d.c.
  • switching module 102 provides d.c. current to the plurality of electrically conductive coils SI, S3, S5 and S7 as the rotor 12 rotates through angles of 45 to 89 degrees, 135 to 179 degrees, 225 to 269 degrees, and 315 to 379 degrees.
  • the plurality of electrically conductive coils illustrated in FIG. 24 and FIG. 5, in an alternate embodiment 184, are both depicted electrically in FIG. 4 as SI through S8.
  • the electronic control device 100 is unaffected in theory by the alternate embodiment of the electrically conductive coil configuration shown in FIG.2, 14, and in FIG. 5, 184. It will also be apparent that to those skilled in the art of applied electronics that an analysis of the switching module 102 and its associated electrically conductive coils 24, S2, S4, S6 and S8, and the circular disk element 84, will suffice to explain the switching module 104 and its associated, electrically conductive coils 24, SI, S3, S5, and S7 as they relate to circular disk element 84 and the plurality of radially • disposed contacts 86.
  • the preferred embodiment discloses eight sets of radially disposed electrically conductive rows of coils, 24 as shown radially separated by 45 degrees FIG.
  • the electronic control device 100 of FIG. 4 includes a basic voltage supply 106 provided across d.c. supply conductors 101 attached to two opposing end terminals to power the switching modules 102 and 104.
  • the illustrative circuit voltage as shown in FIG. 4 is 12 volts direct current (d.c), but the circuit can operate equally well with different supply voltages as long as the values of the varipus circuit components are adjusted accordingly.
  • the electronic control device 100 also includes a second direct current voltage supply 110 provided across a conductor 112 to transfer voltage through the circular disk element 84, and ultimately the silicon control rectifer gates 124, 125, 126, 127 of a group of the silicon control rectifer's (SCRS) 116, 117, 118, and 119.
  • the illustrative second direct current voltage supply 110 is 6 volts, but the circuit can operate equally well with a different voltage provided the SCRS actually used can accommodate a different gate voltage.
  • SW1 and 134 which are mechanically coupled together to provide the pm stepping motor 10 with the ability to be turned on and off.
  • the circular disk element 84 for generating periodic timing pulses is mounted for rotation about the rotor shaft 70 of the pm stepping motor 10.
  • the switch 132, (SW1) is closed the basic voltage supply current flows through a circuit connecting the positive side of the basic voltage supply through four input terminals, each input terminal connected to a plurality of SCR anodes, 146, 147, 148 and 149 respectively.
  • gate 124 senses the applied voltage the SCR 116 acts to conduct a positive current flow.
  • the d.c. flows from the . positive side of the 12 VDC power supply through the conductors 101 to the SCR 116 anode 146, through the SCR 116 cathode 160 and through the electrically conductive coils 24, (S2, S4, S6, and S8) .
  • FIG. 4 illustrates the electrically conductive coils ' 24 connected in electrical parallel to each other.
  • Each electrically conductive coil e.g. S2 is understood to represent either the single stator configuration relieve (alternate embodiment illustrated in FIG. 5, as item 184 or the row of stators configured in FIG. 2, as item 24.
  • FIG. 4 shows the electrically conductive coils 24 connected in electrical parallel to each other, the same basic operation of the motor 10 is achieved if the electrically conductive coils 24, S2-S8 and S1-S7 are connected in electrical series (unshown) .
  • the electrically conductive coils 24, (S2, S4,. S6 and S8) conduct current they each produce an electro ⁇ magnetic flux due to solenoid action. It will be noted that the average current flowing through the electrically
  • conductive coils is directly proportional to the time interval that SCR 116 conducts current.
  • the time interval that SCR 116 conducts current is proportional to the time it takes for a 45 degree rotation of the rotor 12 and consequently the circular disk element 84 mounted thereon which ultimately produces periodic timing pulses.
  • the electromagnetic fluxes thus created are coupled to the spatially distributed, localized flux 50 about the outer circumference 52 of the rotor 12 (FIG. 6) to produce a working electromotive force on the rotor 12.
  • the spatial distribution of the localized flux is dimension- ally broad enough to encompass an area over the rotor 10 surface to include surface magnet groups of opposite magnetic poles.
  • the electromagnetic flux and the localized flux 50 are of the same polarity ie. the magnetic fields are in opposite but parallel directions, vectorially, a reaction force is created which impels the rotor 12 to rotate.
  • the electromagnetic flux and the localized flux 50 are of the opposite polarity i.e., the magnetic fields are in the same but parallel directions, vectorially, an action force is created which impels the rotor 12 to rotate. Both the reaction forces and action forces cause the rotor 12 to rotate in the same direction. As previously mentioned, the circular disk element 84 rotates in the same direction and at the same angular velocity as the rotor 12.
  • a capacitor 152 charges to the value of the voltage that is present at the SCR 116 cathode 160.
  • the SCR 116 will continue to conduct current as long as the potential voltage difference across SCR 116 anode 146 and its cathode 160 remains positive.
  • the p.l__r.ality of radially disposed contacts 86 advance 45 degrees as well, nd the rotatable contact 156 advances 45 degrees until it is no longer in intimate contact with the fixed contact 140.
  • the resistor 164 provides a current discharge path from node 154 to the ground side of the conductors 101 and the 12 VDC power supply.
  • the voltage across the capacitor 156 (Cl) cannot change instantaneously when the SCR 117 conducts current.
  • the charge through the capacitor does change instantan ⁇ eously and when the SCR 117 conducts it causes a node 170 to drive sharply positive in voltage.
  • the magnitude of the voltage at the node 170 is thereby equal to the sum of the existing potential voltage at the node 170 before the SCR 117 conducts current and the voltage created by the instantaneous charge at the node 170 when the SCR 117 conducts current.
  • the sum voltage at the node 170 when the SCR 117 conducts current causes the SCR 116 cathode 160 to drive more positive than SCR 116 anode 146 thereby causing the SCR 116 to cease conduction. At this time current flow to the electrically conductive coils 24, (S2, S4, S6 and S8) ceases.
  • the circular disk element 84 rotates 45 degrees so that the rotatable contact 156 contacts fixed the contact 158, the rotatable contact 136 contacts the fixed contact 142 causing the SCR 118 gate 126 to sense the 6 VDC voltage potential.
  • the SCR 118 conducts current from the voltage, p-res-ent at conductors 101 and through the SCR 118 anode 148 to the SCR 118 cathode 162 to the second set of electrically conductive coils 24, (SI, S3, S5 and S7) .
  • a neutralizing capacitor 135 (C3) is connected between the SCR 116 cathode 160 and ground.
  • Capacitor 135 (C3) has as its function to limit the charging rate of current flowing through the conductive coils 24.
  • Two diodes 137 are included in the circuit to limit any negative voltage overshoot as the electrically conductive coils 24 are turned on and off. This effectively prevents the SCRS reverse voltage breakdown point to occur. _
  • FIGS. 5 and 5a there is shown an i-sometric view of the pm stepper motor apparatus 10 with a particular configuration, relating to the construction of the electrically conductive coils 24 of the preferred
  • a electrically conductive coil 184 is elongated, along the longitudinal direction of the motor 10.
  • the coil has a copper wire 186 wound in the aforementioned direction, about a group of elongate of non-ferromagnetic or ferromagnetic laminations 188 which are appropriately mechanically attached together to provide the body of the acting selenoid (coil) for the purposes set forth and defined beforehand in the preceding text.
  • the construction of the coils 24 or of the coil 184, and the general arrangment sets forth an option for manufa turing consideration and ease of assembly which will depend upon individual requirements.
  • the electrical operation of the alternate construction is the same as defined for the preferred embodiment, and therefore it is a matter of preference.
  • the operation of the motor as defined is intended to create a reliable feedback control system at such time that the rotor 12 is caused to move by the electromagnetic coupling produced by the sequential operation of the electrical control device 16. While the rotor, is rotating, through the 45 degree angle, the torque and speed produced by the electromagnetic force is essentially being main- tained at a substantially uniform level through the electrical control circuit 100.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Stepping Motors (AREA)

Abstract

Moteur pas à pas à aimants permanents (10) produisant un couple éléve constant et une vitesse constante sur un angle étendu de pas et dans des conditions variables de charge sur l'arbre de sortie. Le dispositif comprend un rotor (12), une pluralité de stators (14) et un dispositif de commande électronique (100) produisant une vitesse et un couple constants. Le rotor est composé d'un noyau cylindrique homogène (18) possédant un anneau segmenté externe formé par une pluralité d'aimants permanents. Les aimants ont des polarités alternées et sont divisés en groupes. Un dispositif de stator (14) entoure le rotor, composé de rangées écartées de manière cylindrique de bobines électriquement conductrices (24) écartées radialement. Un disque de synchronisation (84) concentrique et tournant avec le rotor (12) détecte la vitesse du rotor (12) et renvoie des impulsions périodiques de synchronisation à un système électronique de commutation (100) pour réguler le courant traversant le stator. Les stators sont couplés électromagnétiquement à la surface du rotor à aimants permanents. Le courant traversant les stators commande ainsi la valeur du flux magnétique et permet au rotor de maintenir une vitesse constante lors des variations des charges sur l'arbre de sortie.
EP19850901725 1984-03-12 1985-03-11 Moteur pas a pas a aimants permanents Withdrawn EP0183710A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US58835284A 1984-03-12 1984-03-12
US588352 1984-03-12

Publications (1)

Publication Number Publication Date
EP0183710A1 true EP0183710A1 (fr) 1986-06-11

Family

ID=24353497

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19850901725 Withdrawn EP0183710A1 (fr) 1984-03-12 1985-03-11 Moteur pas a pas a aimants permanents

Country Status (4)

Country Link
EP (1) EP0183710A1 (fr)
AU (1) AU3966785A (fr)
GB (1) GB2156602B (fr)
WO (1) WO1985004269A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8527319D0 (en) * 1985-11-06 1985-12-11 Maghemite Inc Magnetronic motor
GB8608714D0 (en) * 1986-04-10 1986-05-14 Occardi D Electrical apparatus
WO1991016755A1 (fr) * 1990-04-12 1991-10-31 Arthur James Barnes Dispositif auxiliaire d'entrainement de caddie de golf
JPH0779840A (ja) * 1993-09-10 1995-03-28 Tokai Rubber Ind Ltd 重量物搭載板回動装置
DE102010064094A1 (de) * 2010-12-23 2012-06-28 Siemens Aktiengesellschaft Haltekraft für motorisch angetriebene Objekte
ES2536935B1 (es) * 2013-04-26 2015-12-09 Eduardo BERMEJO MOLINER Motor eléctrico de bajo consumo

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1034733B (it) * 1974-04-11 1979-10-10 Teldix Gmbh Macchina elettrica
US4156168A (en) * 1976-11-03 1979-05-22 Tokheim Corporation Electric motor
GB1604121A (en) * 1977-04-08 1981-12-02 Sony Corp Dc motors
FR2438367A1 (fr) * 1978-10-06 1980-04-30 Citroen Sa Moteur electrique pas a pas
JPH036149Y2 (fr) * 1981-01-13 1991-02-15
CH653493A5 (en) * 1981-12-04 1985-12-31 Portescap Electric stepper motor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8504269A1 *

Also Published As

Publication number Publication date
GB2156602A (en) 1985-10-09
AU3966785A (en) 1985-09-19
GB8505997D0 (en) 1985-04-11
GB2156602B (en) 1988-06-22
WO1985004269A1 (fr) 1985-09-26

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