AU2021105971A4 - Magnetically Levitated Nutation spherical bearing and its working method - Google Patents
Magnetically Levitated Nutation spherical bearing and its working method Download PDFInfo
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- AU2021105971A4 AU2021105971A4 AU2021105971A AU2021105971A AU2021105971A4 AU 2021105971 A4 AU2021105971 A4 AU 2021105971A4 AU 2021105971 A AU2021105971 A AU 2021105971A AU 2021105971 A AU2021105971 A AU 2021105971A AU 2021105971 A4 AU2021105971 A4 AU 2021105971A4
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- nutation
- permanent magnet
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- bearing cover
- grooves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/0408—Passive magnetic bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/0408—Passive magnetic bearings
- F16C32/041—Passive magnetic bearings with permanent magnets on one part attracting the other part
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with magnetic bearings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/06—Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator ; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator
- H02K41/065—Nutating motors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention relates to a magnetically levitated nutation spherical bearing and a
working method thereof. The magnetically levitated nutation spherical bearing
comprises a bearing cover and nutation balls positioned in the bearing cover, wherein
the bearing cover comprises an upper bearing cover and a lower bearing cover; a
plurality of grooves are arranged in the upper bearing cover and the lower bearing
cover, and permanent magnets II are arranged in the grooves; the nutation ball includes
a nutation sphere, which is fixedly connected with a plurality of nutation input shafts,
a plurality of grooves are arranged on the nutation sphere, and a first permanent magnet
is arranged in the groove of the nutation sphere; the number of grooves on the upper
bearing cover and the lower bearing cover are consistent and their positions are
opposite, and the grooves on the nutation sphere are opposite to those in the bearing
cover. The first permanent magnet and the second permanent magnet are radially
magnetized, and the opposite faces of first permanent magnet and second permanent
magnet have the same magnetism. The spherical bearing of the invention adopts
permanent magnet suspension, which has the advantages of no friction, no lubrication,
low noise, less heat generation, high energy efficiency ratio and the like, it can realize
nutation transmission, thoroughly solves the problem of mechanical wear, and greatly
improves the performance and service life of the spherical bearing.
1/2
FIGURES
Figure 1
4
Fr
Figure 2
Description
1/2
Figure 1
4
Fr
Figure 2
Magnetically levitated nutation spherical bearing and its working method
The invention relates to a magnetically levitated nutation spherical bearing and its
working method thereof.
Spherical bearings are widely used in medical devices, robot joints, aerospace
machinery, universal wheels, pumps and other multi-degree-of-freedom mechanical
devices. Traditional spherical bearings have direct mechanical contact, which leads to
serious friction and wear, and the life of spherical bearings is limited, which is not
suitable for some specific environments. Magnetic levitation spherical bearings have
the advantages of non-contact, frictionless, high efficiency, etc., and have a wider
application prospect. However, at present, magnetic levitation spherical bearings
basically adopt electromagnetic levitation or electromagnetic permanent magnet
combination, which has complex structure, small application space, slow response and
poor dynamic performance, resulting in the decrease of control accuracy and low
stability of the system.
The invention improves the problems existing in the prior art, namely, the
technical problem to be solved by the invention is to provide a magnetically levitated
nutation spherical bearing and a working method thereof, which adopts permanent
magnet suspension, has the advantages of no friction, no lubrication, low noise, less
heat generation, high energy efficiency ratio and the like, it can realize nutation transmission, thoroughly solve the problem of mechanical wear, and greatly improve the performance and service life of the spherical bearing.
In order to solve the above technical problems, the technical scheme of the
invention is as follows: the magnetically levitated nutation spherical bearing comprises
a bearing cover and nutation balls positioned in the bearing cover, wherein the bearing
cover comprises an upper bearing cover and a lower bearing cover, and both the upper
bearing cover and the lower bearing cover are provided with a plurality of grooves, and
second permanent magnets are arranged in the grooves; The nutation ball includes a
nutation sphere, which is fixedly connected with a plurality of nutation input shafts, a
plurality of grooves are arranged on the nutation sphere, and the first permanent magnet
is arranged in the groove of the nutation sphere; The number of grooves on the upper
cover of the bearing and the lower cover of the bearing are the same and their positions
are opposite, and the grooves on the nutation sphere are opposite to the grooves in the
bearing cover; Both the first permanent magnet and the second permanent magnet are
magnetized radially, the opposite surfaces of the first permanent magnet and the second
permanent magnet have the same magnetic properties.
Further, the bearing cover is a fixed part, the permanent magnet in the bearing
cover is a static magnet; the nutation sphere is a moving part, and the permanent magnet
on the nutation sphere is a moving magnet.
Further, the nutation input shaft is located between the upper bearing cover and
the lower bearing cover, the bottom surface of the upper bearing cover and the top surface of the lower bearing cover are both provided with grooves to accommodate the nutation input shaft, and the nutation input shaft extends out of the bearing cover.
Further, the grooves on the bottom surface of the bearing upper cover and the top
surface of the bearing lower cover are semicircular, and the diameter of the groove is
larger than the diameter of the nutation input shaft contained in the groove.
Further, the grooves on the nutation sphere, the grooves in the bearing cover, the
bottom surface of the bearing upper cover and the grooves on the top surface of the
bearing lower cover are all symmetrically arranged and evenly distributed.
Further, the groove on the nutation sphere, the groove in the bearing cover, the
first permanent magnet and the second permanent magnet are all arc-shaped.
Further, the grooves on the upper bearing cover and the lower bearing cover are
both 4 and have a 1/4 circle shape, the nutation sphere has 4 grooves and has a
semicircular shape, and the nutation input shaft has 4, there are 8 first permanent
magnets and 8 permanent magnets 2 in a 1/4 circle shape, and 2 permanent magnets
one are arranged in a groove on the nutation sphere.
Further, the calculation formula of the radial Lorentz Force F 12 between the first
permanent magnet and the second permanent magnet arranged oppositely is:
F1 2
0102 f2 h 04 1z2 CT22 2 sin(j - 0i -rilnout ind~idzid~jdzz 4i e1 03 Z 1 o + r1 - 2rin0 1 rou 2 cos(- Oi) + (z 2 - z 1 )
0 f2 h f 64 Z2 -r2ut 1rout 2 sin(j - 0i + f 2 2 2I0 dOidzidOjdz 2 4nRto 1 0 e3 rout + routi - 2 rOut1rOUt2 cos(0 - 0i) + (z 2 - z1 )
0 0102 2 h 64 Z2 -r 1 rin 2 sin(Oj - 00 3 r +dOidzidOjdz 2 4 11 routz+ ri-2riniroutz cos(j-1 )+(z2 - Z1)
-12f 0 2 f h fe 4 z2 -rrut1rin2 sin(8j - 01) -d6dzid6 dzz 4Trpo 0 1 Jo e r 2 + routi - 2rout 1rin2 cos(6 - 0i) + (z 2 - z1
) 12frouti 02 h f 4 Z2 -r2 rout 2 sin(8j - 0i) - 4Tr 2 2 1 drid6idzid6 dz 2 pini J 1 Jo e3 1 ri+ routi- 2ro r1 cos( - 0i) + (z2 - z1
) 2 routi f02 h 4 z 2 r 2 in2 in(8j - 0i) 1 f 2 2 1drid6dzid6 dz2 4 r rn 1 e 1 o e3 z1 ri + r2- 2rinz r2 cos( - 0i) + (z 2 - z1
) 0102frouti 02 fh f4 z 2 -r2rFout 2sin(8j - 0i) - 2 dridzid6 dzz 4po rini 1 3 ZI r2 + routi- 2rout2 r 2cos( - 0i) + (z2 - z 1
) +102froutif 0 2 fh 4 z2 -r 2 in2 in(8j - 0i) + - 2 2 dridzid6 dzz 4Tr[po frini 01 0 3 ZI r 2 + rin - 2rinzr2 cos(Oj - 0i) + (Z2 - Z1)
+(1(72 rout routz f02 fh 04 z2 2 -- ri Sin(8j - 0i) d~rdizdjZ 4Tpo rini rn2 e1 0o e Z1 ri + r2 - 2rir 2 cos(O - 0i) + (z 2 - z 1
) Among them, F 12 is the radial Lorentz force between the first permanent magnet
and second permanent magnet arranged oppositely, 31 is the magnetic charge surface
density of first permanent magnet, and (2 is the magnetic charge surface density of
second permanent magnet, o is the vacuum permeability, 01-02 is the radian of first
permanent magnet, 03-04 is the radian of second permanent magnet, andOj-O1 is the
radian from point i to j,z2-zi is the axial length offirst permanent magnet, h is the axial
length of second permanent magnet, rini is the radius of the inner surface of first
permanent magnet, rin2 is the radius of the inner surface of the second permanent
magnet, routi is the radius of the outer surface of thefirst permanent magnet, rout2 is the
radius of the outer surface of the second permanent magnet, ri is the radius of the first
permanent magnet, and r2 is the radius of the second permanent magnet.
The working method of the magnetic levitation nutation spherical bearing is as
follows: the second permanent magnet in the bearing cover and the first permanent magnet on the nutation sphere are arranged opposite to each other to form a repulsive effect. The nutation sphere realizes levitation under the action of gravity and permanent magnetic levitation force; The plurality of nutation input shafts sequentially swing upwards or downwards to complete a swing cycle, and at the same time the nutation sphere completes a cycle of non-rotating nutation motion; The first permanent magnet on the nutation sphere and the second permanent magnet in the bearing cover are always arranged opposite to each other, and there will be a tilt state between the static permanent magnet and the moving permanent magnet during the movement of the bearing.
Compared with the prior technology, the present invention has the following
beneficial effects: the spherical bearing adopts permanent magnetic levitation, the
bearing moving body and the upper and lower cover of the bearing are respectively
symmetrically arranged with permanent magnets to achieve complete axial and radial
passive levitation; in the structural design of the bearing, the nutation motion of the
bearing ball pair is realized through the successive swing of the input shaft; it can be
widely used in nutation transmission or other mechanical devices; it has the advantages
of no friction, no lubrication, low noise, low heat generation and high energy efficiency
ratio. It can realize nutation transmission, completely solve the problem of mechanical
wear, and greatly improve the performance and life of the spherical bearing.
Figure 1 is a schematic diagram of the overall combined structure of an
embodiment of the present invention;
Figure 2 is a schematic diagram of the overall exploded structure of an
embodiment of the present invention;
Figure 3 is a schematic cross-sectional view of an embodiment of the present
invention;
Figure 4 is a schematic diagram of the position indication and magnetization
direction of the second permanent magnet and the first permanent magnet arranged
opposite to each other according to the embodiment of the present invention.
In the figures: 1-bearing upper cover, 2-nutation input shaft, 3-bearing lower
cover, 4-nutation sphere, 5-first permanent magnet, 6-second permanent magnet.
The present invention will be further described in detail below in conjunction with
the figures and specific embodiments.
The magnetically levitated nutation spherical bearing comprises a bearing cover
and nutation balls positioned in the bearing cover, wherein the bearing cover comprises
an upper bearing cover and a lower bearing cover, and a plurality of grooves are
arranged in the upper bearing cover and the lower bearing cover, and permanent
magnets 2 is arranged in the grooves; the nutation sphere includes a nutation sphere,
which is fixedly connected with a plurality of nutation input shafts, a plurality of
grooves are arranged on the nutation sphere, and permanent magnets 1 are arranged in
the groove of the nutation sphere; the number of grooves on the upper cover of the
bearing and the lower cover of the bearing are the same and their positions are opposite,
and the grooves on the nutation sphere are opposite to the grooves in the bearing cover;
Both the first permanent magnet and the second permanent magnet are magnetized
radially, and the opposite surfaces of the first permanent magnet and the second
permanent magnet have the same magnetic properties.
Further, the bearing cover is a fixed part, the permanent magnet in the bearing
cover is a static magnet; the nutation ball is a moving part, and the permanent magnet
on the nutation sphere is a moving magnet.
Further, the nutation input shaft is located between the upper bearing cover and
the lower bearing cover, the bottom surface of the upper bearing cover and the top
surface of the lower bearing cover are both provided with grooves to accommodate the
nutation input shaft, and the nutation input shaft extends out of the bearing cover.
Further, the grooves on the bottom surface of the bearing upper cover and the top
surface of the bearing lower cover are semicircular, and the diameter of the groove is
larger than the diameter of the nutation input shaft contained in the groove.
Further, the grooves on the nutation sphere, the grooves in the bearing cover, the
bottom surface of the bearing upper cover and the grooves on the top surface of the
bearing lower cover are all symmetrically arranged and evenly distributed.
Further, the groove on the nutation sphere, the groove in the bearing cover, the
first permanent magnet and the second permanent magnet are all arc-shaped.
Further, the number of the grooves on the upper bearing cover and the lower
bearing cover are both 4 and in a 1/4 circle shape, the nutation sphere has 4 grooves
and has a semicircular shape, the nutation input shaft has 4, there are 8 permanent magnets 1 and 8 permanent magnets 2 in a 1/4 circle shape, and two permanent magnets
1 are arranged in a groove on the nutation sphere.
As shown in the figure, from the structure, the magnetically levitated nutation
spherical bearing can be divided into two parts: the bearing cover and the nutation
sphere. The bearing cover includes a bearing upper cover, a bearing lower cover and
second permanent magnet. Four grooves are symmetrically arranged in the bearing
upper cover and the bearing lower cover. A second permanent magnet is installed in
each groove, the second permanent magnet is magnetized radially, the bearing cover is
a fixed body, and the second permanent magnet in the bearing cover is a static magnet.
The nutation ball includes a nutating input shaft, a nutation sphere, and afirst permanent
magnet. There are four grooves symmetrically arranged on the nutation sphere, and four
permanent magnets 1 are installed in the four grooves. The first permanent magnet is
magnetized in the radial direction, and the magnetization direction is opposite to the
static magnet in the bearing cover. The nutation ball is a moving part. The first
permanent magnet on the nutation sphere is a moving magnet. The nutation input shaft
extends from the sphere and the bearing cover. It is fixedly connected with the nutation
sphere, and the four input shafts are driven to swing downward in turn clockwise to
realize the nutating motion of the nutation sphere in the upper and lower covers. The
second permanent magnet in the bearing cover and the first permanent magnet on the
nutation sphere are arranged correspondingly, and they are both radially magnetized.
The outer surface of the second permanent magnet in the bearing cover has the same
magnetic properties as the outer surface of the permanent magnet on the nutation sphere, forming eight pairs of mutually repelling magnets, so that the nutation sphere does not contact the bearing cover and realizing the suspension state of the nutation sphere in the bearing cover.
There are 1/4 circular grooves in the bearing upper cover 1, four 1/4 circular
grooves are arranged symmetrically, and second permanent magnet 6 are installed in
the grooves. The magnetization direction of the second permanent magnet 6 is in the
radial direction, four symmetric semicircular grooves are provided on the nutation
sphere 4, and the first permanent magnet 5 is installed in the grooves. The direction of
the permanent magnet of the second magnet 6 is in the radial direction. A 1/4 circular
groove is opened in the lower bearing cover 3, four 1/4 circular grooves are arranged
symmetrically, and the first magnet 5 is installed in the groove. The second permanent
magnets in the upper and lower covers of the bearing correspond to the first permanent
magnets on the nutation ball, and the magnetization directions are along the radial
direction, forming a total of eight pairs of mutually repelling magnets.
The working method of the magnetically levitated nutation spherical bearing is as
follows. The second permanent magnet in the bearing cover and the first permanent
magnet on the nutation ball are arranged opposite to each other to form a repulsive
effect. The nutation ball realizes levitation under the action of gravity and permanent
magnetic levitation force; the plurality of nutation input shafts sequentially swing
upwards or downwards to complete a swing cycle, and at the same time the nutation
ball completes a cycle of non-rotating nutation motion; the first permanent magnet on
the nutation ball and the second permanent magnet in the bearing cover are always arranged opposite to each other, and there will be a tilt state between the static permanent magnet and the moving permanent magnet during the movement of the bearing.
The specific working process is as follows: As shown in Fig. 3, the permanent
magnets 6 in the upper and lower covers of the bearing are arranged in pairs with the
permanent magnets 5 on the nutation ball 4 to form a mutual repulsive effect, the
nutation ball realizes levitation under the action of gravity and permanent magnetic
levitation force. There are input shafts 2, 7, 8, and 9 on the nutation ball, which are
respectively fixedly connected with the nutation ball, and the input shaft can swing up
and down sequentially through external action. If the axis 2 swings down at the first
time, the other three axes 7, 8, and 9 will all move accordingly under the action of axis
2, and the axis 7 swings down at the next time. The shaft 8 and the shaft 9 swing
downwards in a clockwise order to complete a swing cycle, and at the same time the
bearing ball pair completes a cycle of non-rotating nutation motion. The nutation ball
only performs nutation motion without rotation. The permanent magnets 5 on the
nutation ball and the permanent magnets 6 of the bearing upper and lower covers are
always arranged in pairs, there will be a tilt state between the static permanent magnets
and the moving permanent magnets 5 during the movement of the bearing.
The force of the magnetic levitation nutation ball and the calculation of the
magnetic force between the permanent magnets: the magnetization direction of all
magnets in the magnetic levitation nutation bearing is radial magnetization, as shown
in Figure 4. The eight magnets on the nutation ball respectively form eight pairs of repulsive forces with the eight magnets in the upper and lower covers of the bearing.
The four pairs of Lorentz force from the magnets in the upper cover are directed
downward, and the downward total Lorentz force is recorded as F1. The four pairs of
Lorentz force of the magnet in the lower cover are directed upwards, the total upward
Lorentz force is recorded as F 2 , the gravity of the nutation ball is recorded as G 1, and
the magnet gravity on the nutation ball is recorded as G2. The balance equation of the
bearing nutation ball in the suspended state is,
F 1 + G1 + G 2 = F 2
When the nutation ball in the bearing is not nutating, the magnet in the bearing
cover and the magnet on the nutation ball are in a coaxial state; when the nutation ball
in the bearing undergoes nutation motion, the magnet in the bearing cover and the
magnet on the nutation ball are in a mutually inclined state. The magnet in the bearing
cover always repels the magnet on the nutation ball. The formula for calculating the
radial Lorentz force of each pair of magnets is:
F1 2
= a102- (7 i2h d6idzid6dzz 04 2 fz -r 2 n 1 rout 2 sin(8j - 0i) 4r¶po eJ , Z routz + rin - 2ri1n rout2 cos(O - 0i) + (z 2 - z 1 )
0102 2 h fe4 ,z 2 2ut1rout2 sin(8j - 0i) + fd6 1 dzid6 dz 2 4Tr pto 0 o 3 routz + routi - 2rout 1rout2 cos(O- 0i) + (z2 - z1 )
2 y1y2 02 h 04 z2 -r n1 rin 2 sin(8j - 0i) 4TI__ +( d61 dzid6 dz2 jjj + 4rpo e o routz 3 rin - 2rinrot co( 1r +r i-8) + (Z2 - Z1) ot2 COS(Oj
0 e2 h f 4 z2 -ut1rin2 sin(8j - 0i) - o -d6idzid6 dzz 41 e3 r 2 + routi - 2rout 1 rin2 cos(O - 0i) + (z 2 - z1 )
0102 routi f0 2 h 4 Z2 -r 2rout 2 sin(8j - 0i) - 4ri pr3 , I 0i)++2drciddzid(+dzz ri +rout - 2routz r1 cos(Oj 2- 2 (Z2 - Z1)
0102 routl f 2 h f4 z 2 -- r12in 2 sin(O - 01) 4 4 f 2 2 1 - dridzid6 dzz o'rini 10 oe 3 z1 ri + rn2 - 2rin 2r 1 cos(O - 0i) + (z 2 - z1
) 00 routi f2 h 04 z 2 2 out2 Sin(O - 01) - 4TE1po rin i j e1 a e3 2 dridOidzidOdz 2 Z1 r2 + routi - 2rout 2r 2 cos(O - 0i) + (z2 - z 1
) 0102 rout f2 fh f41 z 2 -r 2rin 2 sin(O - 01) 4 1 + - 2 2 dridzid6 dzz Tpo frini 1 3 ZI r2 + ri- 2rin 2r2 cos(O - 0i) + (z 2 - z 1
) 2 +0102 rout routz f 02 h 04 z -ri sin(o - 01) 4 Tr'o rrini rin 2 1 1 o e ri + r2 - 2rir 2 cos(O - 0i) + (z 2 - z 1
) Among them, ai is the surface density of magnetic charge of first permanent
magnet, 32 is the surface density of magnetic charge of second permanent magnet, o
is the vacuum permeability, 01-02 is the radian of first permanent magnet, and 03-04 is
the radian of second permanent magnet, Oj-Ois the radian from point i to j, z2-zi is the
axial length of first permanent magnet, h is the axial length of second permanent
magnet, rin1is the radius of the inner surface of first permanent magnet, rin2 is the radius
of the inner surface of the second permanent magnet, routi is the radius of the outer
surface of the first permanent magnet, rout2 is the radius of the outer surface of the
second permanent magnet, ri is the radius of the first permanent magnet, and r2 is the
radius of the second permanent magnet.
The above descriptions are only preferred embodiments of the present invention,
and all equivalent changes and modifications made in accordance with the scope of the
patent application of the present invention should fall within the scope of the present
invention.
Claims (9)
1. A magnetically levitated nutation spherical bearing, which is characterized in:
it comprises a bearing cover and nutation balls positioned in the bearing cover, wherein
the bearing cover comprises an upper bearing cover and a lower bearing cover, and both
the upper bearing cover and the lower bearing cover are provided with a plurality of
grooves, and the second permanent magnets are arranged in the grooves; The nutation
ball includes a nutation sphere, which is fixedly connected with a plurality of nutation
input shafts, a plurality of grooves are arranged on the nutation sphere, and the first
permanent magnet is arranged in the groove of the nutation sphere; the number of
grooves on the upper cover of the bearing and the lower cover of the bearing are the
same and their positions are opposite, the grooves on the nutation sphere are opposite
to the grooves in the bearing cover; both the first permanent magnet and the second
permanent magnet are magnetized radially, the opposite surfaces of the first permanent
magnet and the second permanent magnet have the same magnetic properties.
2. The magnetically levitated nutation spherical bearing according to claim 1,
characterized in that: the bearing cover is a fixed part, the permanent magnet in the
bearing cover is a static magnet; the nutation ball is a moving part, and the permanent
magnet on the nutation sphere is a moving magnet.
3. The magnetically levitated nutation spherical bearing according to claim 1 or 2,
characterized in that: the nutation input shaft is located between the upper bearing cover
and the lower bearing cover, the bottom surface of the upper bearing cover and the top surface of the lower bearing cover are both provided with grooves to accommodate the nutation input shaft, and the nutation input shaft extends out of the bearing cover.
4. The magnetically levitated nutation spherical bearing according to claim 3,
characterized in that: the grooves on the bottom surface of the bearing upper cover and
the top surface of the bearing lower cover are semicircular, and the diameter of the
groove is larger than the diameter of the nutation input shaft contained in the groove.
5. The magnetically levitated nutation spherical bearing according to claim 4,
characterized in that: the grooves on the nutation sphere, the grooves in the bearing
cover, the bottom surface of the bearing upper cover and the grooves on the top surface
of the bearing lower cover are all symmetrically arranged and evenly distributed.
6. The magnetically levitated nutation spherical bearing according to claim 1 or 2
or 4 or 5, characterized in that: the groove on the nutation sphere, the groove in the
bearing cover, the first permanent magnet and the second permanent magnet are all arc
shaped.
7. The magnetically levitated nutation spherical bearing according to claim 6,
characterized in that: the grooves on the upper bearing cover and the lower bearing
cover are both 4 and in a 1/4 circle shape, the nutation sphere has 4 grooves and has a
semicircular shape, and the nutation input shaft has 4, there are 8 first permanent
magnets and 8 permanent magnets 2 in a 1/4 circle shape, and 2 first permanent magnets
are arranged in a groove on the nutation sphere.
8. The magnetically levitated nutation spherical bearing according to claim 1 or 2
or 4 or 5 or 7, characterized in that: the calculation formula of the radial Lorentz Force
F 12 between the first permanent magnet and the second permanent magnet arranged
oppositely is:
F1 2
= a (7 -02 i 2h 04 d6idzid6dzz 2 fz -r 2n1 rout 2 sin(8j - 0i)
4rpo efoJ e, Z1 routz + rii - 2rin 1 rout2 cos(O - 0i) + (z 2 - z 1
) 0102 2 h fe4 ,z 2 ut1rout2 sin(8j - 0i) + fd6 1 dzid6 dz 2 4Tr pto 1 0 3 routz + routi - 2rout 1rout2 cos(O- 0i) + (z2 - z 1
) 2 y1y2 02 4 2 h 0 z 1 2 -r n rin sin(8j - 0i) 4TI__ +( d61 dzid6 dz2 + jjj 3 2r +r nrt2COS(Oj 4rpo i o , 1 outz rin - 2rinrot co( i-8) +(Z2 - Z1)
0 e2 h f 4 z2 -ut1rin2 sin(8j - 0i) 412po 1 3 Z 1 r 2 +routi - 2rout 1rin2 cos(O - 0i) +(z2 - z1
) 0102 routi f0 2 h 4 Z2 -r2 rout 2 sin(8j - 0i) 2 1 dz 2 - 41Tpo0 rini 1J 3 Z1 2 ri + rout- 2rout2 1r cos(O -drid6idzid6 - 0i) + (z 2 - z 1
) 2 routi f02 h 4 z 2 r 2 in2 in(8j - 0i) 1 f 2 2 1drid6dzid6 dz2 4 r rn 1 e 1 a e3 z1 ri + r2- 2rinz r2 cos(O - 0i) + (z 2 - z1 ) 0102 routi 02 fh f4 z 2 -r2rout 2sin(8j - 0i) - 2 dridzid6 dzz 4po rini 1 3 ZI r2 + routi- 2rout2 r 2cos( - 0i) + (z2 - z 1 )
012routi f02 fh f04 fz2 -- r2 rin2 Sin(8j - 0i) + - 2 2 dridzid6 dzz 4Tr[po frini 01 0 3 ZI r 2 + rin - 2rinzr2 cos(Oj - 0i) + (Z2 - Z1)
+712 ouroutfrout2 f02 fh f4 z2 -- ri sin( - 0i) drdr 2 d6idzld6jdz 2 4Tpo rini rn 2 0e 1 0 0e 3 ZI ri + r2 - 2rir 2 cos(O - 0i) + (z 2 - z1 )
Among them, F 12 is the radial Lorentz force between the first permanent magnet
and second permanent magnet arranged oppositely, 31 is the magnetic charge surface
density of first permanent magnet, and (2 is the magnetic charge surface density of
second permanent magnet, o is the vacuum permeability, 01-02 is the radian of first
permanent magnet, 03-04 is the radian of second permanent magnet, andOj-O1 is the
radian from point i to j,z2-zi is the axial length of first permanent magnet, h is the axial length of second permanent magnet, rini is the radius of the inner surface of first permanent magnet, rin2 is the radius of the inner surface of the second permanent magnet, rout is the radius of the outer surface of the first permanent magnet, rout2 is the radius of the outer surface of the second permanent magnet, ri is the radius of the first permanent magnet, and r2 is the radius of the second permanent magnet.
9. The working method of a magnetically levitated nutation spherical bearing
according to any one of claims 1-8, characterized in that: the second permanent magnet
in the bearing cover and the first permanent magnet on the nutation ball are arranged
opposite to each other to form a repulsive effect, the nutation ball realizes levitation
under the action of gravity and permanent magnetic levitation force; the plurality of
nutation input shafts sequentially swing upwards or downwards to complete a swing
cycle, and at the same time the nutation ball completes a cycle of non-rotating nutation
motion; the first permanent magnet on the nutation ball and the second permanent
magnet in the bearing cover are always arranged opposite to each other, and there will
be a tilt state between the static permanent magnet and the moving permanent magnet
during the movement of the bearing.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117748818A (en) * | 2024-02-21 | 2024-03-22 | 中国人民解放军海军工程大学 | Two suspension pivot three protection pivot multistage impeller formula magnetic levitation pump group topological structure |
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- 2021-08-19 AU AU2021105971A patent/AU2021105971A4/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117748818A (en) * | 2024-02-21 | 2024-03-22 | 中国人民解放军海军工程大学 | Two suspension pivot three protection pivot multistage impeller formula magnetic levitation pump group topological structure |
| CN117748818B (en) * | 2024-02-21 | 2024-05-14 | 中国人民解放军海军工程大学 | Two suspension pivot three protection pivot multistage impeller formula magnetic levitation pump group topological structure |
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