CN104410241A - Magnetic levitation spherical motor - Google Patents
Magnetic levitation spherical motor Download PDFInfo
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- CN104410241A CN104410241A CN201410556029.8A CN201410556029A CN104410241A CN 104410241 A CN104410241 A CN 104410241A CN 201410556029 A CN201410556029 A CN 201410556029A CN 104410241 A CN104410241 A CN 104410241A
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Abstract
The invention discloses a multi-degree-of-freedom magnetic levitation spherical motor. The magnetic levitation spherical motor comprises a stator structure and a mover structure, wherein a plurality of permanent magnets are uniformly distributed on the spherical surface of the mover structure; the stator structure comprises magnetic levitation coils and thrust coils; a plurality of magnetic levitation coils are arranged on a levitation coil framework in a certain array form; the circumferential thrust coils are uniformly and radially distributed on the circumference of an incomplete spherical surface; and the top thrust coils are uniformly distributed in parallel and vertically on the top of the incomplete spherical surface. Through design of a novel form of structure, the mover can rotate in any direction in a plane. The structure is simple. The magnetic levitation spherical motor has a very good application prospect in multi-degree-of-freedom equipment.
Description
Technical field
The present invention relates to a kind of multivariant magnetic suspension spherical electromotor, belong to technical field of motors.
Background technology
At present, what study in motor-drive technique is substantially all the motion of one dimension or two dimension, such as: the planar linear motor etc. of the linear electric motors of one dimension, the electric rotating machine of one dimension, two dimension, the many times motion of motor directly can not apply to machine parts, to realize specific motion.When the power transmission that motor is produced give other actuator time need to add some transmission mechanisms, transmission mechanism add the reliability reducing overall machine, add energy loss, be unfavorable for the operation of a machine.Meanwhile, the motor of one dimension or two dimensional motion can not realize separately complicated motion.Such as, on the automobile that engine rear drives, the power that gasoline engine produces to need the power transmission of automotive front end through power transmission shaft, to back axle, then to pass to trailing wheel through differential mechanism, car could start, and any one automobile that goes wrong of these links just cannot travel.The power that engine provides when motor turning time can not directly realize rotating on wheel, needs steering mechanism to realize.And during motor turning, the limited angle of rotation, cannot realize 360 degree and advance.
The motor that the joint of some robots uses often can only realize the motion of one degree of freedom, if will realize compound movement, so then needs multiple motor, and be that robot weight strengthens like this, structure is too fat to move, greatly reduces the flexibility of robot.
Therefore a kind of multivariant magnetic suspension spherical electromotor is suggested, with the one dimension of alternative association area or two-dimensional motor.
Summary of the invention
The object of the present invention is to provide a kind of not friction, wearing and tearing, the multivariant magnetic suspension spherical electromotor of any direction vector movement can be realized.
The technical scheme that the present invention adopts for its technical problem of solution is as follows.
Magnetic suspension spherical motor proposed by the invention comprises stator structure and Structure of mover, several permanent magnets at the spherical uniform distribution of Structure of mover, stator structure comprises suspended coil and thrust coil, several suspended coils are arranged on suspended coil framework with certain array way, circumference thrust coil is evenly distributed in the circumference of incomplete sphere, radially, top thrust coil is evenly at the top of incomplete sphere, and direction is parallel to each other with vertical.
The invention is characterized in: on the spheroid of mover 2, be uniform-distribution with several permanent magnet 2-1, stator 1 comprises suspended coil 1-2 and thrust coil 1-3, several suspended coils 1-2 is arranged on suspended coil frame 1-1 with certain array way, circumference thrust coil 1-3-1 is evenly distributed in the circumference of incomplete sphere, radially, top thrust coil 1-3-2 is evenly at the top of incomplete sphere, and direction is parallel to each other with vertical.
The invention is characterized in: described thrust coil 1-3 comprises circumferential thrust coil 1-3-1 and top thrust coil 1-3-2, and its inner surface is sphere, concentric with stator 1; Described circumferential thrust coil 1-3-1 homogeneous radiation distribution in the circumferential (observing from vertical view), each circumferential coil provides the power that mover 2 is rotated to radiation direction (observing from vertical view); Described top thrust coil 1-3-2 is dispersed 4 coils at the top of stator 1, and direction is mutually vertical.
The invention is characterized in: the iron core of described thrust coil 1-3 is made up of nonferrous material.
The invention is characterized in: described suspended coil frame 1-1 comprises apex lines coil 1-1-1 and upper thread coil 1-1-2, be evenly distributed on thrust coil 1-3 outside; In all planes that the vertical view (same: a certain plane being just shown in regular dodecahedron) that described upper thread coil 1-1-2 is distributed in regular dodecahedron 0 is seen, and axis of rotation and place plane orthogonal; Described suspended coil frame 1-1 comprises the iron core of suspended coil 1-2, and iron core is distributed on each bobbin.
The invention is characterized in: described suspended coil 1-2 is nested on the iron core on suspended coil frame 1-1.
The invention is characterized in: described suspended coil 1-2 is made up of multilayer DC coil, and the iron core of suspended coil 1-2 adopts cold-reduced silicon sheet to form.
The invention is characterized in: described mover 2 is made up of permanent magnet 2-1, packing material 2-2, supporter 2-3, supporter 2-3 is a spherical aluminium sheet.
The invention is characterized in: described permanent magnet 2-1 is distributed in the spheroid of mover 2, distribution mode is, is distributed on all of regular dodecahedron 0, and the centre of sphere of mover 2 is all pointed in pole assemblage direction; The material of described permanent magnet 2-1 is rare earth rubidium iron boron permanent magnet.
Beneficial effect of the present invention is: the present invention can realize mover (i.e. wheel) and rotate to any direction in plane, and structure is simple, in multiple degrees of freedom equipment, have good application prospect.Can transmission mechanism be simplified when it is installed and serves as wheel onboard, realize the quick response of motor, facilitate turning to of car; Be used as when joint uses when it and can obtain action more flexibly.
Accompanying drawing explanation
Fig. 1 is the overall front view of patent embodiment of the present invention;
Fig. 2 is the overall cutaway view (a certain section) of patent embodiment of the present invention;
Fig. 3 is the stator suspended coil frame regularity of distribution figure of patent embodiment of the present invention;
Fig. 4 is the stator suspended coil frame distribution vertical view of patent embodiment of the present invention;
Fig. 5 is the stator suspended coil distribution map of patent embodiment of the present invention;
Fig. 6 is the thrust coil structure of patent embodiment of the present invention;
Fig. 7 is the thrust coil vertical view of patent embodiment of the present invention;
Fig. 8 is the permanent magnet distribution distribution map of patent embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
As shown in the figure, the main embodiment of a kind of globular motor of the present invention forms primarily of stator 1 with mover 2 with matching.
Mover 2 is spheroid, permanent magnet 2-1 is distributed in the spheroid of mover 2, distribution mode is: be distributed on all of regular dodecahedron 0, and the centre of sphere of mover 2 is all pointed in pole assemblage direction, this embodiment is for regular dodecahedron, but be not limited to regular dodecahedron, other regular polygon is also suitable for.The material of permanent magnet 2-1 is rare earth rubidium iron boron permanent magnet.Permanent magnet 2-1 is fixed on the supporter 2-3 that material is spherical aluminium sheet, and the space between permanent magnet and supporter 2-3 is filled by packing material 2-2, and finally makes mover 2 be spheroid.
Stator 1 mainly comprises suspended coil frame 1-1, suspended coil 1-2 and thrust coil 1-3.
Suspended coil frame 1-1 comprises apex lines coil 1-1-1 and upper thread coil 1-1-2, be evenly distributed on thrust coil 1-3 outside, wherein: in all planes that the vertical view (with a certain plane being just shown in regular dodecahedron) that upper thread coil 1-1-2 is distributed in regular dodecahedron 0 is seen, and axis of rotation and place plane orthogonal; On all three regular polygon summits that the vertical view (same: a certain plane being just shown in regular dodecahedron) that upper thread coil 1-1-2 is distributed in regular dodecahedron 0 is seen, sensing body-centered, direction.Suspended coil frame 1-1 comprises the iron core of suspended coil 1-2 simultaneously, and iron core is distributed on each bobbin.Suspended coil 1-2 is made up of multilayer DC coil, and the iron core of suspended coil 1-2 adopts cold-reduced silicon sheet to form.Thrust coil 1-3 comprises circumferential thrust coil 1-3-1 and top thrust coil 1-3-2, and its inner surface is sphere, concentric with stator 1.Circumference thrust coil 1-3-1 homogeneous radiation distribution in the circumferential (observing from vertical view), each circumferential coil provides the power that mover 2 is rotated to radiation direction (observing from vertical view); Top thrust coil 1-3-2 is dispersed 4 coils at the top of stator 1, and direction is mutually vertical.The iron core of thrust coil 1-3 is made up of nonferrous material.
The present invention utilizes the principle of " like pole repels each other; opposite pole is attracting " between the excitation field of stator 1 and mover 2 to make stator 1 be suspended on the sphere at mover 2 place, avoid the contact between stator 1 and mover 2, reduce wearing and tearing, reduce energy ezpenditure, simultaneously at the electromagnetic push move under influence of thrust coil 1-3.When give suspended coil 1-2 be energized time, suspended coil 1-2 produce magnetic field and mover 2 on permanent magnet 2-1 magnetic field between produce repulsion, stator 1 is suspended.When being equal in weight of repulsion and stator 1 place platform, stator 1 stress balance will get up in stable suspension.Simultaneously, some or certain the several circumferential thrust coil 1-3-1 of the thrust coil 1-3 on stator 1 is energized, and produces the Ampere force in respective direction under the effect of permanent magnet 2-1.Therefore, the platform at stator 1 place realizes the rotation all around of mover 2 under the acting in conjunction of suspending power and Ampere force.。After being energized at top thrust coil 1-3-2, Ampere force being produced equally, mover 2 will being made to rotate around vertical axes when giving top thrust coil 1-3-2 energising successively.Just can realize motor by the parameter of electric current in regulating winding and carry out complicated motion.
Claims (8)
1. a magnetic suspension spherical motor, comprise stator 1 and and mover 2 with matching, it is characterized in that: on the spheroid of mover 2, be uniform-distribution with several permanent magnet 2-1, stator 1 comprises suspended coil 1-2 and thrust coil 1-3, several suspended coils 1-2 is arranged on suspended coil frame 1-1 with certain array way, circumference thrust coil 1-3-1 is evenly distributed in the circumference of incomplete sphere, radially, top thrust coil 1-3-2 is evenly at the top of incomplete sphere, and direction is parallel to each other with vertical.
2. a kind of globular motor according to claim 1, is characterized in that: described thrust coil 1-3 comprises circumferential thrust coil 1-3-1 and top thrust coil 1-3-2, and its inner surface is sphere, concentric with stator 1; Described circumferential thrust coil 1-3-1 homogeneous radiation distribution in the circumferential (observing from vertical view), each circumferential coil provides the power that mover 2 is rotated to radiation direction (observing from vertical view); Described top thrust coil 1-3-2 is dispersed 4 coils at the top of stator 1, and direction is mutually vertical.
3. a kind of globular motor according to claim 1, is characterized in that: the iron core of described thrust coil 1-3 is made up of nonferrous material.
4. a kind of globular motor according to claim 1, is characterized in that: described suspended coil frame 1-1 comprises apex lines coil 1-1-1 and upper thread coil 1-1-2, is evenly distributed on thrust coil 1-3 outside; In all planes that the vertical view (same: a certain plane being just shown in regular dodecahedron) that described upper thread coil 1-1-2 is distributed in regular dodecahedron 0 is seen, and axis of rotation and place plane orthogonal; On all three regular polygon summits that the vertical view (same: a certain plane being just shown in regular dodecahedron) that described upper thread coil 1-1-2 is distributed in regular dodecahedron 0 is seen, sensing body-centered, direction; Described suspended coil frame 1-1 comprises the iron core of suspended coil 1-2, and iron core is distributed on each bobbin.
5. a kind of globular motor according to claim 1, is characterized in that: described suspended coil 1-2 is nested on the iron core on suspended coil frame 1-1.
6. a kind of globular motor according to claim 1, is characterized in that: described suspended coil 1-2 is made up of multilayer DC coil, and the iron core of suspended coil 1-2 adopts cold-reduced silicon sheet to form.
7. a kind of globular motor according to claim 1, is characterized in that: described mover 2 is made up of permanent magnet 2-1, packing material 2-2, supporter 2-3, and supporter 2-3 is a spherical aluminium sheet.
8. a kind of globular motor according to claim 1, is characterized in that: described permanent magnet 2-1 is distributed in the spheroid of mover 2, and distribution mode is, is distributed on all of regular dodecahedron 0, and the centre of sphere of mover 2 is all pointed in pole assemblage direction; The material of described permanent magnet 2-1 is rare earth rubidium iron boron permanent magnet.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410556029.8A CN104410241A (en) | 2014-10-20 | 2014-10-20 | Magnetic levitation spherical motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410556029.8A CN104410241A (en) | 2014-10-20 | 2014-10-20 | Magnetic levitation spherical motor |
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| CN104410241A true CN104410241A (en) | 2015-03-11 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104836408A (en) * | 2015-03-24 | 2015-08-12 | 北京机械设备研究所 | Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor |
| CN105108746A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Multi-degree-of-freedom joint robot arm |
| CN105207430A (en) * | 2015-09-15 | 2015-12-30 | 清华大学 | Magnetic suspension momentum sphere adopting magnetic wheel driving |
| CN105388903A (en) * | 2015-11-30 | 2016-03-09 | 中国空间技术研究院 | Quick assembly module momentum sphere attitude control actuator |
| CN107949522A (en) * | 2015-08-12 | 2018-04-20 | 快速定位解决方案有限责任公司 | Satellite attitude control system |
| CN108336891A (en) * | 2017-12-18 | 2018-07-27 | 上海交通大学 | The dynamic actuator of rotation peace and combinations thereof device |
| CN108667263A (en) * | 2018-05-31 | 2018-10-16 | 华中科技大学 | A kind of load compensation mechanism and globular motor suitable for globular motor |
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| CN1599226A (en) * | 2004-07-27 | 2005-03-23 | 西安交通大学 | Magnetic suspension planar electric machine |
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| CN102237834A (en) * | 2011-03-25 | 2011-11-09 | 哈尔滨工业大学 | MDOF (multiple-degree-of-freedom) magnetic suspension motor |
| CN102412763A (en) * | 2011-11-24 | 2012-04-11 | 天津大学 | Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof |
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2014
- 2014-10-20 CN CN201410556029.8A patent/CN104410241A/en active Pending
Patent Citations (4)
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| CN1599226A (en) * | 2004-07-27 | 2005-03-23 | 西安交通大学 | Magnetic suspension planar electric machine |
| US20100264756A1 (en) * | 2008-10-29 | 2010-10-21 | Georgia Tech Research Corporation | Multiple-Degree Of Freedom System And Method Of Using Same |
| CN102237834A (en) * | 2011-03-25 | 2011-11-09 | 哈尔滨工业大学 | MDOF (multiple-degree-of-freedom) magnetic suspension motor |
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| YONGSU UM等: "《Characteristic of Torque on Spherical Stepping Motor based on Hexahedron-Octahedron Structure》", 《PROCEEDINGS OF THE 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION AUGUST 9-12, CHANGCHUN, CHINA》 * |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104836408A (en) * | 2015-03-24 | 2015-08-12 | 北京机械设备研究所 | Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor |
| CN104836408B (en) * | 2015-03-24 | 2017-06-09 | 北京机械设备研究所 | A kind of six degree of freedom permanent-magnet synchronous magnetic suspension spherical motor |
| CN105108746A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Multi-degree-of-freedom joint robot arm |
| CN105108746B (en) * | 2015-08-10 | 2017-03-29 | 广东工业大学 | A kind of multi-freedom joint robot arm |
| CN107949522A (en) * | 2015-08-12 | 2018-04-20 | 快速定位解决方案有限责任公司 | Satellite attitude control system |
| CN107949522B (en) * | 2015-08-12 | 2021-08-31 | 快速定位解决方案有限责任公司 | Satellite attitude control system |
| CN105207430A (en) * | 2015-09-15 | 2015-12-30 | 清华大学 | Magnetic suspension momentum sphere adopting magnetic wheel driving |
| CN105207430B (en) * | 2015-09-15 | 2017-11-14 | 清华大学 | A kind of magnetic suspension momentum sphere of magnetic wheel driven automatic scan |
| CN105388903A (en) * | 2015-11-30 | 2016-03-09 | 中国空间技术研究院 | Quick assembly module momentum sphere attitude control actuator |
| CN105388903B (en) * | 2015-11-30 | 2018-02-06 | 中国空间技术研究院 | A kind of module momentum sphere attitude control actuator of quick poly- dress |
| CN108336891A (en) * | 2017-12-18 | 2018-07-27 | 上海交通大学 | The dynamic actuator of rotation peace and combinations thereof device |
| CN108667263A (en) * | 2018-05-31 | 2018-10-16 | 华中科技大学 | A kind of load compensation mechanism and globular motor suitable for globular motor |
| CN108667263B (en) * | 2018-05-31 | 2019-06-28 | 华中科技大学 | A kind of load compensation mechanism and globular motor suitable for globular motor |
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Application publication date: 20150311 |