CN102075042B - Ball type motor with three-dimensional topology magnetic pole distribution structure - Google Patents

Ball type motor with three-dimensional topology magnetic pole distribution structure Download PDF

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Publication number
CN102075042B
CN102075042B CN2011100483408A CN201110048340A CN102075042B CN 102075042 B CN102075042 B CN 102075042B CN 2011100483408 A CN2011100483408 A CN 2011100483408A CN 201110048340 A CN201110048340 A CN 201110048340A CN 102075042 B CN102075042 B CN 102075042B
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magnetic pole
stator
internal
rotor
external
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CN102075042A (en
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严亮
张良
兰华
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Beihang University
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Beihang University
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Abstract

The invention discloses a ball type motor with a three-dimensional topology magnetic pole distribution structure The ball type motor comprises an outer rotor (1), an outer stator (2), a ball bearing (3), a base (4), an inner rotor (5) and an inner stator (6), wherein the rotor and the stator are sleeved with each other; the ball bearing (3) is installed in the inner stator (6); the inner rotor (5) is sleeved on the external part of the inner stator (6); the outer stator (2) is sleeved on the external part of the inner rotor (5); and the outer rotor (1) is sleeved on the external part of the outer stator (2). The electromagnetic force driving is adopted for the ball type motor disclosed by the invention, besides magnetic poles and coil magnetic poles are distributed along a spherical surface, and also can be distributed along the radial direction, thus the magnetic field intensity of a coil magnetic pole region is increased greatly, simultaneously the interaction force between the magnetic poles is improved, not only can the continuous rotation space with spatial three degrees of freedom of the ball motor rotor can be realized, but also the output torque, especially the tilting moment, of the ball motor is improved effectively.

Description

A kind of ball-type motor with three-dimensional topology magnetic pole distributed architecture
Technical field
The present invention relates to a kind of ball-type motor, more particularly say, be meant a kind of ball-type motor with three-dimensional topology magnetic pole distributed architecture.Magnetic pole in this ball-type motor is except distributing along sphere, and radially multilayer distributes, thereby the performance that can increase output torque, the especially heeling moment of ball-type motor is significantly improved.
Background technology
Bionics is one of important foundation of Robotics development.People's arm has 7 degree of freedom, and promptly shoulder, wrist are the Three Degree Of Freedom ball-joints, and elbow is the single-degree-of-freedom rotary joint.The existing bigger working space of human arm, bearing capacity preferably have outstanding flexibility again.And ball motor can implementation space Three Degree Of Freedom continuous rotary motion, and therefore, the development of ball motor has obtained paying attention to widely the robot field.
Conventional motor all is the single shaft motion, so each joint of robot is also driven by single shaft.For example come anthropomorphic dummy's shoulder, carpal function with the form of three single-degree-of-freedom joint combinations.Though the designer can design the Three Degree Of Freedom ball-joint of similar people's wrist or people's shoulder on mechanism's profile; But study carefully the essence that its internal drive realizes, then remain three independently the single shaft motor simulate the function of ball-joint through the combination of transmission mechanism.Ball-joint that combines like this and real incorporate ball-joint are not equal on function, even far from each other.Generally speaking, the scheme with combination single-degree-of-freedom motor formation multi-freedom joint realizes that multivariant motion receives following limitation:
The first, having the strain of transmission mechanism and motion dead band inevitably is the reason that causes kinematic accuracy to reduce;
The second, the quality of composition motor and annex and inertia cause high energy losses more greatly, and motor reaction sensitivity and rapidity are not good enough to make range of application limited;
The 3rd, in motion process, exist kinematics unusual easily in the joint.
With respect to the multiple degrees of freedom rotational motion mechanism of forming with several single-degree-of-freedom motor serial or parallel connections traditionally; The ball-type motor has significant advantage, and, response speed little, in light weight like volume be fast, do not have backlash and in working space, do not have singular point etc.But; To the too small problem of heeling moment that runs in the current domestic and international ball motor research; Patent application of the present invention proposes a kind of ball-type motor with three-dimensional topology magnetic pole distributed architecture, that is: magnetic pole is except distributing along sphere, and radially multilayer distributes; Thereby can increase output torque, the especially heeling moment of ball-type motor.
Summary of the invention
The ball-type motor with three-dimensional topology magnetic pole distributed architecture of the present invention's design adopts electromagnetic force to drive, and can realize that not only the space three-freedom of ball motor rotor rotates continuously, and can effectively improve output torque, the especially heeling moment of ball motor.Ball-type motor of the present invention is characterised in that magnetic pole and coil magnetic pole are except distributing along sphere; Can also radially distribute; Increased the magnetic field intensity of coil pole regions so greatly; Simultaneously also improved the interaction force between the magnetic pole, thereby the output performance that can enlarge output torque, the especially heeling moment of ball-type motor significantly improves.The rotor of this design and the magnetic pole of stator can increase number of magnetic poles at the both direction (longitude, latitude) of sphere, and the magnetic pole of rotor and stator is at the magnetic pole that radially also can increase any number of plies of ball simultaneously; And coil magnetic pole and permanent magnetism magnetic pole can exchange, and stator and rotor can exchange.
A kind of ball-type motor of the present invention with three-dimensional topology magnetic pole distributed architecture, this ball-type motor includes ball bearing (3), pedestal (4), external rotor (1), external stator (2), internal rotor (5) and internal stator (6);
The bottom of external rotor shell (1A) is provided with A opening (104), and the top of external rotor shell (1A) is provided with sleeve (105), and the center of external rotor shell (1A) is A cavity (103), and external rotor shell (1A) evenly has the A through hole 101 that is used to place outer magnetic pole (1B) on weft direction; Described A opening (104) is used for external stator (2) to be passed through; Described sleeve (105) is used to realize the socket of external rotor (1) and internal rotor (5); Described A cavity (103) is used to place external stator (2);
The bottom of internal rotor shell (5A) is provided with C opening (504); The top of internal rotor shell (5A) is provided with take-off lever (505); The center of take-off lever (505) has D through hole (502); The center of internal rotor shell (5A) is C cavity (503), evenly has the C through hole (501) that is used to place internal magnetic pole (5B) on the weft direction of internal rotor shell (5A); Described C opening (504) is used for internal stator (6) to be passed through; Described take-off lever (505) is used to realize the actuating force output of ball motor; Described C cavity (503) is used to place internal stator (6); Described D through hole (502) is used to place the axostylus axostyle (301) of ball bearing (3);
The top of external stator shell (2A) is provided with B opening (204); The bottom of external stator shell (2A) is provided with B through hole (202); The center of external stator shell (2A) is B cavity (203); Evenly have the A blind hole (201) that is used to place A exterior loop magnetic pole (2B) on the external stator A parallel (20) of external stator shell (2A), evenly have the B blind hole (205) that is used to place B exterior loop magnetic pole (2C) on the external stator B parallel (21) of external stator shell (2A); Described B opening (204) is used for internal rotor (5) to be passed through; Described B cavity (203) is used to place internal rotor (5); The connecting rod (601) that described B through hole (202) is used for internal stator (6) passes;
The top of internal stator shell (6A) is provided with D opening (604); The bottom of internal stator shell (6A) is provided with connecting rod (602); The center of internal stator shell (6A) is D cavity (603); Be provided with the plane platform (602) that is used to install ball bearing (3) in the said D cavity (603); Evenly have the C blind hole (601) that is used to place A interior loop magnetic pole (6B) on the internal stator A parallel (60) of internal stator shell (6A), evenly have the D blind hole (605) that is used to place B interior loop magnetic pole (6C) on the internal stator B parallel (61) of internal stator shell (6A); Described D opening (604) is used for ball bearing (3) to be passed through; Described D cavity (603) is used to place ball bearing (3); Described connecting rod (602) is installed in the through hole (401) of pedestal (4);
On the external rotor shell (1A) of external rotor (1) a plurality of outer magnetic poles (1B) are installed; Described outer magnetic pole (1B) is evenly distributed on the external rotor parallel (10); The number that outer magnetic pole (1B) is set on the said external rotor parallel (10) satisfies β=360/n; N representes to be provided with the number of magnetic pole, and β representes the field axis angle, unit °;
On the internal rotor shell (5A) of internal rotor (5) a plurality of internal magnetic poles (5B) are installed; Described internal magnetic pole (5B) is evenly distributed on the internal rotor parallel (50); The number that internal magnetic pole (5B) is set on the said internal rotor parallel (50) satisfies β=360/n; N representes to be provided with the number of magnetic pole, and β representes the field axis angle, unit °;
Outer magnetic pole (1B) is identical with the structure of internal magnetic pole (5B);
A plurality of A exterior loop magnetic poles (2B), a plurality of B exterior loop magnetic poles (2C) are installed on the external stator shell (2A) of external stator (2); Described A exterior loop magnetic pole (2B) is evenly distributed on the external stator A parallel (20), and described B exterior loop magnetic pole (2C) is evenly distributed on the external stator B parallel (21); The number that A exterior loop magnetic pole (2B) is set on the said external stator A parallel (20) satisfies θ=360/m; The number that B exterior loop magnetic pole (2C) is set on the said external stator B parallel (21) satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °;
A plurality of A interior loop magnetic poles (6B), a plurality of B interior loop magnetic poles (6C) are installed on the internal stator shell (6A) of internal stator (6); Described A interior loop magnetic pole (6B) is evenly distributed on the internal stator A parallel (60), and described B interior loop magnetic pole (6C) is evenly distributed on the internal stator B parallel (61); The number that A interior loop magnetic pole (6B) is set on the said internal stator A parallel (60) satisfies θ=360/m; The number that B interior loop magnetic pole (6C) is set on the said internal stator B parallel (61) satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °; A exterior loop magnetic pole (2B), B exterior loop magnetic pole (2C), A interior loop magnetic pole (6B) are identical with the structure of B interior loop magnetic pole (6C).
Advantage with ball-type motor of three-dimensional topology magnetic pole distributed architecture of the present invention is:
1. adopt three-dimensional topology magnetic pole distributed architecture; Not only can increase number of magnetic poles at the both direction (longitude, latitude) of sphere; Can also be at the magnetic pole that radially increases any number of plies of ball; The magnetic field intensity in intensifier coil zone so greatly, thus the output torque of ball motor improved, especially improve the heeling moment of ball motor.
2. rotor magnetic pole and magnetic pole of the stator can exchange, and rotor and stator also can exchange according to need of work.
3. utilize the rotor of passive ball bearing fulcrum ball motor, the Three Degree Of Freedom rotation has overcome the excessive problem of moment of friction that runs in the ball motor design by the steel ball scrolling realization that embeds, and has avoided the wearing and tearing between ball motor rotor case and the stator case.
4. ball motor utilization bionics principle moves with shoulder, the wrist joint of apery arm and to realize three-degree-of-freedom motion.The centre of sphere of passive ball bearing is concentric with ball motor rotor and stator.
Description of drawings
Fig. 1 is the external structure of ball-type motor of the present invention.
Figure 1A is the exploded view of ball-type motor of the present invention.
Figure 1B be in the ball-type motor of the present invention magnetic pole and coil magnetic pole at the schematic layout pattern of overlooking on the direction.
Fig. 1 C is that ball-type motor heeling moment of the present invention produces sketch map.
Fig. 2 is the structure chart of external rotor of the present invention.
Fig. 3 is the structure chart of external stator of the present invention.
Fig. 3 A is the vertical view of external stator of the present invention.
Fig. 4 is the structure chart of internal rotor of the present invention.
Fig. 5 is the structure chart of internal stator of the present invention.
Among the figure: 1. external rotor 10. external rotor parallel 1A. external rotor shell 1B. outer magnetic poles
101.A through hole 102. lightening hole 103.A cavity 104.A openings 105. sleeves
2. external stator 20. external stator A parallels 21. external stator B parallels
2A. external stator shell 2B.A exterior loop magnetic pole 2C.B exterior loop magnetic pole
201.A blind hole 202.B through hole 203.B cavity 204.B opening 205.B blind hole
3. ball bearing 301. axostylus axostyles 4. pedestals 401. through holes
5. internal rotor 50. internal rotor parallel 5A. internal rotor shell 5B. internal magnetic pole 501.C through holes
502.D through hole 503.C cavity 504.C opening 505. take-off levers 6. internal stators
60. internal stator A parallel 61. internal stator B parallel 6A. internal stator shells
6B.A interior loop magnetic pole 6C.B interior loop magnetic pole 601.C blind hole
602. connecting rod 603.D cavity 604.D opening 605.D blind hole 606. plane platforms
Embodiment
Shown in Fig. 1, Figure 1A, a kind of ball-type motor of the present invention with three-dimensional topology magnetic pole distributed architecture, this ball-type motor includes external rotor 1, external stator 2, ball bearing 3, pedestal 4, internal rotor 5 and internal stator 6;
On the rotor case 1A of external rotor 1 (being external rotor shell 1A) a plurality of outer magnetic pole 1B are installed; Described outer magnetic pole 1B is evenly distributed on the external rotor parallel 10; The number that outer magnetic pole 1B is set on the said external rotor parallel 10 satisfies β=360/n; N representes to be provided with the number of magnetic pole, and β representes the field axis angle, unit °;
On the rotor case 5A of internal rotor 5 (being internal rotor shell 5A) a plurality of internal magnetic pole 5B are installed; Described internal magnetic pole 5B is evenly distributed on the internal rotor parallel 50; The number that internal magnetic pole 5B is set on the said internal rotor parallel 50 satisfies β=360/n; N representes to be provided with the number of magnetic pole, and β representes the field axis angle, unit °;
In the present invention, described outer magnetic pole 1B is identical with described internal magnetic pole 5B structure; Ball motor is in when motion, the external rotor 1 and the identical characteristics of motion of internal rotor 5 maintenances, so the magnetic pole number of layout also should be identical on external rotor 1 and the internal rotor 5, then field axis angle β adopts the identical number of degrees, and the announcement of magnetic pole is shown in Figure 1B, Fig. 1 C.
A plurality of A exterior loop magnetic pole 2B, a plurality of B exterior loop magnetic pole 2C are installed on the stator case 2A of external stator 2 (being external stator shell 2A); Described A exterior loop magnetic pole 2B is evenly distributed on the external stator A parallel 20, and described B exterior loop magnetic pole 2C is evenly distributed on the external stator B parallel 21; The number that A exterior loop magnetic pole 2B is set on the said external stator A parallel 20 satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °; The number that B exterior loop magnetic pole 2C is set on the said external stator B parallel 21 satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °; In the present invention, A exterior loop magnetic pole 2B and B exterior loop magnetic pole 2C are distributed on the stator of same ball-type structure, and the number of degrees of coil field axis angle theta are identical.
A plurality of A interior loop magnetic pole 6B, a plurality of B interior loop magnetic pole 6C are installed on the stator case 6A of internal stator 6 (being internal stator shell 6A); Described A interior loop magnetic pole 6B is evenly distributed on the internal stator A parallel 60, and described B interior loop magnetic pole 6C is evenly distributed on the internal stator B parallel 61; The number that A interior loop magnetic pole 6B is set on the said internal stator A parallel 60 satisfies θ=360/m; The number that B interior loop magnetic pole 6C is set on the said internal stator B parallel 61 satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °; In the present invention, A interior loop magnetic pole 6B and B interior loop magnetic pole 6C are distributed on the stator of same ball-type structure, and the number of degrees of coil field axis angle theta are identical.
In the present invention, described A exterior loop magnetic pole 2B, B exterior loop magnetic pole 2C and described A interior loop magnetic pole 6B, B interior loop magnetic pole 6C structure are identical.Ball motor is when motion; External stator 2 keeps the identical characteristics of motion with internal stator 6; So the coil magnetic pole number of layout also should be identical on external stator 2 and the internal stator 6, then coil field axis angle theta adopts the identical number of degrees, and the announcement of coil magnetic pole is shown in Figure 1B, Fig. 1 C.
The ball-type motor with three-dimensional topology magnetic pole distributed architecture of the present invention's design; Adopt electromagnetic force to drive (shown in Figure 1B); The space three-freedom that not only can realize the ball motor rotor rotates continuously, and can effectively improve output torque, the especially heeling moment of ball motor.
In Figure 1B, Fig. 1 C, according to the principle that homopolar-repulsion, heteropole are inhaled mutually, being distributed as of magnetic pole on the ball motor of the present invention and coil magnetic pole:
Shown in Figure 1B, equally distributed coil magnetic pole 2B carries out layout by stator coil field axis angle theta=30 ° on the external stator 2, and the coil magnetic pole 6B on the internal stator 6 distributes identical with external stator 2; On external stator 2 and internal stator 6 evenly during the distribution coil magnetic pole; Initial coil magnetic pole is installed on the horizontal center line; So the angle between first stator coil field axis angle theta coil field axis that is horizontal center line and second coil magnetic pole, in order must second angle between the coil field axis of the stator coil field axis angle theta coil field axis that is second coil magnetic pole and the 3rd coil magnetic pole.
Shown in Figure 1B, equally distributed magnetic pole 5B carries out layout by rotor magnetic pole axis angle β=45 ° on the internal rotor 5, and the magnetic pole 5B on the internal rotor 5 distributes identical with external rotor 1; On external rotor 1 and internal rotor 5 evenly during the distribution magnetic pole; Initiation magnetic pole is installed on the horizontal center line; So first rotor magnetic pole axis angle β is the angle between the field axis of horizontal center line and second magnetic pole, in order must second angle between the field axis of the rotor magnetic pole axis angle β field axis that is second magnetic pole and the 3rd magnetic pole.
Shown in Figure 1B, in order to realize rotatablely moving of ball motor, magnetic pole between rotor and the stator and coil magnetic pole should satisfy β=45 ° and θ=30 °.
Shown in Fig. 1 C, in order to realize the banking motion of ball motor, the inclined angle alpha between coil field axis and the horizontal center line=15 ° then.
The ball motor of the present invention design is under the condition of loading power, and the principle according to homopolar-repulsion, heteropole between magnetic pole and the coil magnetic pole are inhaled mutually can't produce moment between the magnetic pole of horizontal center line aligning and the coil magnetic pole; Produce a thrust and have between coil magnetic pole and the magnetic pole of angle; And suction of generation between another coil magnetic pole and the magnetic pole; Push away under the power driving of a suction one, ball bearing 3 motions, this motion is passed on the take-off lever 501 of internal rotor 5; Thereby realized the output of ball motor actuating force of the present invention, this ball motor output includes rotatablely moving of inclination, spin three degree of freedom.
To the structure of the parts of the present invention design be elaborated below:
(1) external rotor 1
Referring to shown in Figure 2; External rotor 1 part that is formed in one, the bottom of the external rotor shell 1A of external rotor 1 is provided with A opening 104, and the top of external rotor shell 1A is provided with sleeve 105; The center of external rotor shell 1A is an A cavity 103, evenly has a plurality of A through holes 101 on the weft direction of external rotor shell 1A;
Described A opening 104 is used for external stator 2 to be passed through;
Described sleeve 105 is used to realize the socket of external rotor 1 and internal rotor 5;
Described A cavity 103 is used to place external stator 2;
Described A through hole 101 is used to place outer magnetic pole 1B.
The external rotor 1 of the present invention's design is offered lightening hole 102 on the rotor case 1A outside for weight reduction.
(2) external stator 2
Shown in Fig. 3, Fig. 3 A; External stator 2 part that is formed in one; The top of the external stator shell 2A of external stator 2 is provided with B opening 204, and the bottom of external stator shell 2A is provided with B through hole 202, and the center of external stator shell 2A is a B cavity 203; Evenly have a plurality of A blind holes 201 on the external stator A parallel 20 of external stator shell 2A, evenly have a plurality of B blind holes 205 on external stator B parallel 21 directions of external stator shell 2A;
Described B opening 204 is used for, and internal rotor 5 passes through;
Described B cavity 203 is used to place internal rotor 5;
The connecting rod 601 that described B through hole 202 is used for internal stator 6 passes;
Described A blind hole 201 is used to place A exterior loop magnetic pole 2B, and B blind hole 205 is used to place B exterior loop magnetic pole 2C.
(3) internal rotor 5
Referring to shown in Figure 4; Internal rotor 5 part that is formed in one; The bottom of the internal rotor shell 5A of internal rotor 5 is provided with C opening 504, and the top of internal rotor shell 5A is provided with take-off lever 505, and the center of take-off lever 505 has D through hole 502; The center of internal rotor shell 5A is a C cavity 503, evenly has a plurality of C through holes 501 on the weft direction of internal rotor shell 5A;
Described C opening 504 is used for internal stator 6 to be passed through;
Described take-off lever 505 is used to realize the actuating force output of ball motor;
Described C cavity 503 is used to place internal stator 6;
Described C through hole 501 is used to place internal magnetic pole 5B.
Described D through hole 502 is used to place the axostylus axostyle 301 of ball bearing 3;
(4) internal stator 6
Referring to shown in Figure 5; Internal stator 6 part that is formed in one, the top of the internal stator shell 6A of internal stator 6 is provided with D opening 604, and the bottom of internal stator shell 6A is provided with connecting rod 602; The center of internal stator shell 6A is a D cavity 603; Be provided with the plane platform 602 that is used to install ball bearing 3 in the said D cavity 603, evenly have a plurality of C blind holes 601 on the internal stator A parallel 60 of internal stator shell 6A, evenly have a plurality of D blind holes 605 on the internal stator B parallel 61 of internal stator shell 6A;
Described D opening 604 is used for, and ball bearing 3 passes through;
Described D cavity 603 is used to place ball bearing 3;
Described connecting rod 602 is installed in the through hole 401 of pedestal 4;
Described C blind hole 601 is used to place A interior loop magnetic pole 6B, and D blind hole 605 is used to place B interior loop magnetic pole 6C.
In the present invention, ball bearing 3 is a standardized element.Pedestal 4 is a connection piece, and its essence is ball motor of the present invention is installed in like mechanical arm has on a certain joint.
The installation relation of each parts is in the ball-type motor of the present invention's design:
Because the ball motor of the present invention's design is a spherical structure, so adopt the mode of socket between rotor and the stator.That is:
Ball bearing 3 is installed in the internal stator 6;
The outside of internal stator 6 is with internal rotor 5;
The outside of internal rotor 5 is with external stator 2;
The outside of external stator 2 is with external rotor 1.
At length say so and refer to that ball bearing 3 is installed in the D cavity 603 of internal stator shell 6A of internal stator 6;
The internal stator shell 6A of internal stator 6 places in the C cavity 503 of internal rotor shell 5A of internal rotor 5;
The internal rotor shell 5A of internal rotor 5 places in the B cavity 203 of external stator shell 2A of external stator 2;
The external stator shell 2A of external stator 2 places in the A cavity 103 of external rotor shell 1A of external rotor 1.
The coil magnetic pole that magnetic pole that external rotor 1, internal rotor 5 are provided with and external stator 2, internal stator 6 are provided with is according to magnetic principles layout (shown in Figure 1B).
Ball-type motor of the present invention is characterised in that magnetic pole is except distributing along sphere (being parallel); Also radially (being warp) distributes; Increased the magnetic field intensity of coil pole regions so greatly; Improved the interaction force between the magnetic pole, thereby can enlarge the output torque of ball-type motor, especially the output performance of heeling moment significantly improves.The rotor of this design and the magnetic pole of stator can increase number of magnetic poles at the both direction (longitude, latitude) of sphere, and the magnetic pole of rotor and stator is at the magnetic pole that radially also can increase any number of plies of ball simultaneously; And coil magnetic pole and permanent magnetism magnetic pole can exchange, and stator and rotor can exchange.
The ball motor with three-dimensional topology magnetic pole distributed architecture of the present invention design is applied in the shoulder, wrist joint of robot arm, can makes the joint decreased number on the robot arm.In the anthropomorphic arm mechanical device of a seven freedom,, use ball motor of the present invention and then only need three ball motors of the present invention if then need seven incompatible realizations of group of motors with traditional single shaft motor-driven.Under the condition of joint decreased number, can avoid the strain of transmission mechanism to hang down defective with the kinematic accuracy that cause in the motion dead band; Make also that the structure of robot arm is able to simplify, volume is little, in light weight, response speed is fast etc.

Claims (4)

1. ball-type motor with three-dimensional topology magnetic pole distributed architecture, this ball-type motor includes ball bearing (3), pedestal (4), it is characterized in that: also include external rotor (1), external stator (2), internal rotor (5) and internal stator (6);
The bottom of external rotor shell (1A) is provided with A opening (104); The top of external rotor shell (1A) is provided with sleeve (105); The center of external rotor shell (1A) is A cavity (103), and external rotor shell (1A) evenly has the A through hole (101) that is used to place outer magnetic pole (1B) on weft direction; Described A opening (104) is used for external stator (2) to be passed through; Described sleeve (105) is used to realize the socket of external rotor (1) and internal rotor (5); Described A cavity (103) is used to place external stator (2);
The bottom of internal rotor shell (5A) is provided with C opening (504); The top of internal rotor shell (5A) is provided with take-off lever (505); The center of take-off lever (505) has D through hole (502); The center of internal rotor shell (5A) is C cavity (503), evenly has the C through hole (501) that is used to place internal magnetic pole (5B) on the weft direction of internal rotor shell (5A); Described C opening (504) is used for internal stator (6) to be passed through; Described take-off lever (505) is used to realize the actuating force output of ball motor; Described C cavity (503) is used to place internal stator (6); Described D through hole (502) is used to place the axostylus axostyle (301) of ball bearing (3);
The top of external stator shell (2A) is provided with B opening (204); The bottom of external stator shell (2A) is provided with B through hole (202); The center of external stator shell (2A) is B cavity (203); Evenly have the A blind hole (201) that is used to place A exterior loop magnetic pole (2B) on the external stator A parallel (20) of external stator shell (2A), evenly have the B blind hole (205) that is used to place B exterior loop magnetic pole (2C) on the external stator B parallel (21) of external stator shell (2A); Described B opening (204) is used for internal rotor (5) to be passed through; Described B cavity (203) is used to place internal rotor (5); The connecting rod (601) that described B through hole (202) is used for internal stator (6) passes;
The top of internal stator shell (6A) is provided with D opening (604); The bottom of internal stator shell (6A) is provided with connecting rod (602); The center of internal stator shell (6A) is D cavity (603); Be provided with the plane platform (602) that is used to install ball bearing (3) in the said D cavity (603); Evenly have the C blind hole (601) that is used to place A interior loop magnetic pole (6B) on the internal stator A parallel (60) of internal stator shell (6A), evenly have the D blind hole (605) that is used to place B interior loop magnetic pole (6C) on the internal stator B parallel (61) of internal stator shell (6A); Described D opening (604) is used for ball bearing (3) to be passed through; Described D cavity (603) is used to place ball bearing (3); Described connecting rod (602) is installed in the through hole (401) of pedestal (4);
On the external rotor shell (1A) of external rotor (1) a plurality of outer magnetic poles (1B) are installed; Described outer magnetic pole (1B) is evenly distributed on the external rotor parallel (10); The number that outer magnetic pole (1B) is set on the said external rotor parallel (10) satisfies β=360/n; N representes to be provided with the number of magnetic pole, and β representes the field axis angle, unit °;
On the internal rotor shell (5A) of internal rotor (5) a plurality of internal magnetic poles (5B) are installed; Described internal magnetic pole (5B) is evenly distributed on the internal rotor parallel (50); The number that internal magnetic pole (5B) is set on the said internal rotor parallel (50) satisfies β=360/n; N representes to be provided with the number of magnetic pole, and β representes the field axis angle, unit °;
Outer magnetic pole (1B) is identical with the structure of internal magnetic pole (5B);
A plurality of A exterior loop magnetic poles (2B), a plurality of B exterior loop magnetic poles (2C) are installed on the external stator shell (2A) of external stator (2); Described A exterior loop magnetic pole (2B) is evenly distributed on the external stator A parallel (20), and described B exterior loop magnetic pole (2C) is evenly distributed on the external stator B parallel (21); The number that A exterior loop magnetic pole (2B) is set on the said external stator A parallel (20) satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °; The number that B exterior loop magnetic pole (2C) is set on the said external stator B parallel (21) satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °;
A plurality of A interior loop magnetic poles (6B), a plurality of B interior loop magnetic poles (6C) are installed on the internal stator shell (6A) of internal stator (6); Described A interior loop magnetic pole (6B) is evenly distributed on the internal stator A parallel (60), and described B interior loop magnetic pole (6C) is evenly distributed on the internal stator B parallel (61); The number that A interior loop magnetic pole (6B) is set on the said internal stator A parallel (60) satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °; The number that B interior loop magnetic pole (6C) is set on the said internal stator B parallel (61) satisfies θ=360/m, and m representes to be provided with the number of coil magnetic pole, and θ representes coil field axis angle, unit °; A exterior loop magnetic pole (2B), B exterior loop magnetic pole (2C), A interior loop magnetic pole (6B) are identical with the structure of B interior loop magnetic pole (6C).
2. the ball-type motor with three-dimensional topology magnetic pole distributed architecture according to claim 1 is characterized in that: the principle that magnetic pole and the distribution of coil magnetic pole have adopted homopolar-repulsion, heteropole to inhale mutually.
3. the ball-type motor with three-dimensional topology magnetic pole distributed architecture according to claim 1 is characterized in that: ball motor when banking motion, the inclined angle alpha between coil field axis and the horizontal center line=15 °.
4. the ball-type motor with three-dimensional topology magnetic pole distributed architecture according to claim 1 is characterized in that: ball motor is when rotatablely moving, and magnetic pole and coil magnetic pole satisfy β=45 ° and θ=30 °.
CN2011100483408A 2011-02-28 2011-02-28 Ball type motor with three-dimensional topology magnetic pole distribution structure Expired - Fee Related CN102075042B (en)

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