CN108448867A - A kind of permanent magnetism spherical motor with outer-rotor structure - Google Patents
A kind of permanent magnetism spherical motor with outer-rotor structure Download PDFInfo
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- CN108448867A CN108448867A CN201810394468.1A CN201810394468A CN108448867A CN 108448867 A CN108448867 A CN 108448867A CN 201810394468 A CN201810394468 A CN 201810394468A CN 108448867 A CN108448867 A CN 108448867A
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- Prior art keywords
- stator
- rotor
- spherical
- rotor supports
- stator coil
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Classifications
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- 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
Abstract
The present invention relates to a kind of permanent magnetism spherical motors with outer-rotor structure, stator includes stator coil, stator inner support and stator outer support, stator inner support includes chassis portion and the spherical part that is fixed on chassis, the groove to match with stator coil is offered in the outer surface of spherical part, stator coil is embedding in the trench, stator outer support is fixed on the outside of stator coil, its outer surface is smooth spherical surface, stator outer support be two with splicing can fixed hemispherical Shell, entire smooth spherical shell is formed after splicing.Rotor includes permanent magnet pole and rotor supports, and rotor supports are used for placing permanent magnet pole and ball, are connected to output shaft thereon to export machine torque；Offered in rotor supports with the matched notch of ball, notch is matched with ball enables rotor supports to be buckled in stator outer support, when movement without departing from；On the hemisphere face in the Z axis positive axis direction of rotor supports inner surface, magnetic pole is distributed with.
Description
Technical field
The invention belongs to globular motor field of structural design, more particularly to the electricity of the permanent magnetism spherical with outer-rotor structure
Machine.
Background technology
Currently, the precision apparatus that industrial machinery swivel of hand, pan and tilt head etc. do Spatial Multi-Dimensional movement is widely applied,
This kind of device needs more single-degree-of-freedom driving motors and the mechanical transmission mechanism of complexity to complete the three-dimensional motion in space at present,
So as to cause system complex, bulky, inefficiency, precision is inadequate, response is slow, dynamic property is poor.In such case
Under, the globular motor for being capable of providing multifreedom motion has obtained the extensive attention of people.It is domestic since globular motor proposes
Outer scholar has done many work in the fields such as its structural analysis and control.But permanent magnetism spherical motor is being particularly applicable in reality
In also need to overcome the problems, such as：Due to the magnetic distribution of permanent magnet spherical motor complexity, torque angle displacement characteristic needs to improve, spherical
The torque output that rotor generates is extremely difficult, and is lost during torque output very big；The operation of permanent magnet spherical motor is former
Reason differs, and different detection technique and control algolithm occurs in correspondence, and also in the theory study stage, practicability is poor.
Invention content
The purpose of the present invention is to propose to a kind of novel permanent magnetic with preferable practical sexual compatibility low-speed running occasion is spherical
Motor.Technical solution is as follows：
A kind of permanent magnetism spherical motor with outer-rotor structure, stator include stator coil, outside stator inner support and stator
Support, stator inner support include chassis portion and the spherical part that is fixed on chassis, are offered in the outer surface of spherical part
The groove to match with stator coil, stator coil is embedding in the trench, and stator outer support is fixed in the outside of stator coil,
Outer surface is smooth spherical surface, stator outer support be two with splicing can fixed hemispherical Shell, entire light is formed after splicing
Sliding spherical shell.
Rotor includes permanent magnet pole and rotor supports, and rotor supports are used for placing permanent magnet pole and ball, connect thereon
There is output shaft to export machine torque；It offers in rotor supports and is matched with ball with the matched notch of ball, notch
Rotor supports are buckled in stator outer support, when movement without departing from；In the Z axis positive axis side of rotor supports inner surface
To hemisphere face on, magnetic pole is distributed with.
Preferably, stator coil is divided into 5 layers from Z axis positive axis to negative semiaxis, and the θ components of the spherical coordinates of each layer are θ=0 °,
30 °, 60 °, 90 °, 120 °, each layer is uniformly distributed 1,4,8,8,8 coil, totally 29 coils.
Magnetic pole is three layers, and the θ components ranges of the spherical coordinates of each layer are respectively 30 ° to 50 °, 50 ° to 70 °, 70 ° to 90 °, often
Layer is alternately arranged and is formed by 8 pieces of poles N and 8 pieces of poles S, the spherical coordinates of every piece of magnetic poleComponents range is 22.5 °.
The technique effect of the present invention is as follows：
1. the use of outer rotor is that the arrangement of permanent magnet pole carries in the novel permanent magnetic globular motor with outer-rotor structure
Supply more spaces to generate high magnetic flux density, so as to realize that high torque (HT) exports.
2. the novel permanent magnetic globular motor motion range with outer-rotor structure is compared with the globular motor bigger of inner rotor core.
3. the novel permanent magnetic globular motor with outer-rotor structure is because the moment of inertia of its rotor may be relatively high, this to set
Meter is more suitable for low-speed applications.
4. outer-rotor structure helps to resist the outside in movement in the novel permanent magnetic globular motor with outer-rotor structure
Interference, and improve the operation stability of system.
Description of the drawings
Fig. 1：Globular motor schematic diagram.
Figure label is entitled：1 stator inner support；2 stator coils；3 stator outer supports；3.1 rivets buckle；3.2 rivet；
4 balls；5 rotor supports；5.1 connector；5.2 rotor of output shaft axle；6 air gaps；7 permanent magnet poles；7.1N pole；7.2S pole.
Fig. 2：Stator coil distribution schematic diagram.
Figure label is entitled：1 stator inner support；2 stator coils.
Fig. 3：Rotor magnetic pole distribution schematic diagram.
Figure label is entitled：7.1N pole；7.2S pole.
Fig. 4：Torque generates schematic diagram.
Figure label is entitled：2.1 coils 1；2.2 coils 2；7 permanent magnet poles.
Specific implementation mode
The present invention proposes the design of the novel permanent magnetic globular motor with outer-rotor structure, with reference to the accompanying drawings and examples
The present invention is described in detail.
The present invention proposes some improvement on permanent magnetism spherical electric machine structure, based on the structure of common permanent magnetism spherical motor,
Such as polyhedral structure and hierachical structure, it is proposed that a kind of novel permanent magnetic globular motor with outer-rotor structure.It is novel forever
The characteristics of magnetic globular motor be rotor outside, the double-deck permanent magnet pole is put in rotor supports, and dispose ball, for it is fixed, turn
Sub- relative motion provides support, multi-layered hollow coil of arranging in stator case, the electricity in the magnetic field and stator coil of permanent magnet pole
Stream input interaction generates torque.Novel ball electric machine structure is in industrial machinery swivel of hand equal sphere motor certain applications
With preferable practicability, also further develops for globular motor and provide new thinking.
(1) mechanical structure and operation principle：
Novel permanent magnetic globular motor with outer-rotor structure includes mainly 2 parts, stator and rotor, below to respectively having
Body structure illustrates respectively.
As shown in Figure 1, stator is mainly made of three parts：Stator coil 2, stator inner supporting structure 1 and stator outer support
Structure 3.Entirety wrapping is fixed into cylindrical shape after stator coil 2 is completed by enamel insulated wire winding, facilitates in embedded stator
In support 1, all coils 2 are divided into 5 layers from Z axis positive axis to negative semiaxis, and the θ components of the spherical coordinates of each layer are θ=0 °, 30 °,
60 °, 90 °, 120 °.As shown in Fig. 2, each layer is uniformly distributed 1,4,8,8,8 coil 2, totally 29 coils 2, first layer in figure
Coil is not drawn into, and 2 sectional area of wire of coil is 1mm2, the number of turns is 300 circles.Stator inner supporting structure 1 is slotted above to be used for placing
Coil 2, lower cylindrical chassis provide support for entire globular motor.Stator external supporting structure 3 is used for providing smooth surface so that
Rotor can be with free movement, while external supporting structure acts as a part of air gap, so size should be smaller, it is thick with the air gap of design
It spends identical, is 1mm, be classified as two halves for ease of installation when manufacture, wherein half is dispersed with rivet 3.2 at separated place, separately
Outer half is dispersed with rivet buckle 3.1 in corresponding position, is stitched together both when splicing, two hemispherical Shells are fixed as one
Smooth spherical shell
As shown in Figure 1, rotor is mainly made of two parts：Permanent magnet pole 7 and rotor supports 5.Rotor supports 5 are mainly used
Place permanent magnet pole 7 and ball 4, be connected to output shaft 5.2 thereon to export machine torque, when manufacture for ease of installation by its
Dimidiation, with connector 5.1 with tighten up a screw, nut connects, the main function of wherein ball 4 is so that phase between stator and rotor
Mutually reduce frictional force when movement, and design size allows rotor support device to be buckled on stator completely, and when movement will not take off
From；Permanent magnet pole 7 is distributed 3 layers of magnetic pole 7 as shown in figure 3, on the hemisphere face in Z axis positive axis direction, the spherical coordinates of each layer
θ components ranges are respectively 30 ° to 50 °, 50 ° to 70 °, 70 ° to 90 °, and every layer is alternately arranged by 8 pieces of poles N 7.1 and 8 pieces of poles S 7.2
Composition, the spherical coordinates of every piece of magnetic pole 7Components range is 22.5 °.
As shown in figure 4, when the energization of stator coil 2 to globular motor, generated between stator coil 2 and rotor magnetic pole 7
Moment loading, as shown in figure 4, coil 2.2 to magnetic pole generate gravitation, coil 2.1 to magnetic pole generate repulsion so that magnetic pole 7 along
Coil 2.1 is moved to the direction of coil 2.2, and then the rotor of globular motor is pushed to generate movement.When to all stator coils 2
When energization, rotor can be around its 5.2 rotary motion of armature spindle (i.e. spin motion)；When to the coil positioned at different longitudinal position
When 2 energization, rotor can be around different directions banking motion.So when to the different energizations of stator coil 2, rotor can produce
The movement of raw space three-freedom.
In the present invention combination of component and assemble, the structure of the arrangement mode of rotor magnetic pole, coil and arrangement mode it is equal
It can be changed according to actual state, these deformations and application should be all within the scope of the present invention.
Claims (3)
1. a kind of permanent magnetism spherical motor with outer-rotor structure, stator includes stator coil, is propped up outside stator inner support and stator
Support, stator inner support include chassis portion and the spherical part that is fixed on chassis, the outer surface of spherical part offer with
The groove that stator coil matches, stator coil is embedding in the trench, and stator outer support is fixed in the outside of stator coil, outside
Surface is smooth spherical surface, stator outer support be two with splicing can fixed hemispherical Shell, formed after splicing entire smooth
Spherical shell.
Rotor includes permanent magnet pole and rotor supports, and rotor supports are used for placing permanent magnet pole and ball, be connected to thereon defeated
Shaft is to export machine torque；Offered in rotor supports with the matched notch of ball, notch matched with ball so that
Rotor supports can be buckled in stator outer support, when movement without departing from；In the Z axis positive axis direction of rotor supports inner surface
On hemisphere face, magnetic pole is distributed with.
2. permanent magnetism spherical motor according to claim 1, which is characterized in that stator coil is from Z axis positive axis to negative semiaxis
It is divided into 5 layers, the θ components of the spherical coordinates of each layer are θ=0 °, and 30 °, 60 °, 90 °, 120 °, each layer is uniformly distributed 1,4,8,8,8 line
It encloses, totally 29 coils.
3. permanent magnetism spherical motor according to claim 1, which is characterized in that magnetic pole is three layers, θ points of the spherical coordinates of each layer
It is respectively 30 ° to 50 °, 50 ° to 70 °, 70 ° to 90 ° to measure range, and every layer is alternately arranged and is formed by 8 pieces of poles N and 8 pieces of poles S, every piece
The spherical coordinates of magnetic poleComponents range is 22.5 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810394468.1A CN108448867A (en) | 2018-04-27 | 2018-04-27 | A kind of permanent magnetism spherical motor with outer-rotor structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810394468.1A CN108448867A (en) | 2018-04-27 | 2018-04-27 | A kind of permanent magnetism spherical motor with outer-rotor structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108448867A true CN108448867A (en) | 2018-08-24 |
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| CN201810394468.1A Pending CN108448867A (en) | 2018-04-27 | 2018-04-27 | A kind of permanent magnetism spherical motor with outer-rotor structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109617281A (en) * | 2019-01-16 | 2019-04-12 | 安徽大学 | A kind of permanent magnetism spherical rotor support construction |
| CN110739828A (en) * | 2019-10-25 | 2020-01-31 | 山东大学 | ball type permanent magnet coupling |
| CN112968630A (en) * | 2021-03-29 | 2021-06-15 | 北京航空航天大学 | Multifunctional multi-freedom-degree spherical driver |
| US11108287B2 (en) | 2019-07-05 | 2021-08-31 | Honeywell International Inc. | Spherical electromagnetic machine with two degrees of unconstrained rotational freedom |
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| CN101505076A (en) * | 2009-03-11 | 2009-08-12 | 哈尔滨工程大学 | Underwater globular motor propeller |
| US7710337B2 (en) * | 2007-05-10 | 2010-05-04 | Viasat, Inc. | Antenna polarity adjustment |
| CN202160025U (en) * | 2011-07-29 | 2012-03-07 | 上海理工大学 | Multi-freedom degree spherical motor |
| CN105226891A (en) * | 2014-07-03 | 2016-01-06 | 济南大学 | A kind of globular motor |
| CN106122269A (en) * | 2016-08-16 | 2016-11-16 | 江苏大学 | A kind of five degree of freedom spherical magnetic bearing of constant-current source bias outer rotor |
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2018
- 2018-04-27 CN CN201810394468.1A patent/CN108448867A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7710337B2 (en) * | 2007-05-10 | 2010-05-04 | Viasat, Inc. | Antenna polarity adjustment |
| CN101505076A (en) * | 2009-03-11 | 2009-08-12 | 哈尔滨工程大学 | Underwater globular motor propeller |
| CN202160025U (en) * | 2011-07-29 | 2012-03-07 | 上海理工大学 | Multi-freedom degree spherical motor |
| CN105226891A (en) * | 2014-07-03 | 2016-01-06 | 济南大学 | A kind of globular motor |
| CN106122269A (en) * | 2016-08-16 | 2016-11-16 | 江苏大学 | A kind of five degree of freedom spherical magnetic bearing of constant-current source bias outer rotor |
Non-Patent Citations (1)
| Title |
|---|
| Y. NISHIURA ETC: "Optimization of Stator Pole Arrangement for 3-DOF Spherical Actuator Using Genetic Algorithm", 《2015 IEEE INTERNATIONAL MAGNETICS CONFERENCE》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109617281A (en) * | 2019-01-16 | 2019-04-12 | 安徽大学 | A kind of permanent magnetism spherical rotor support construction |
| US11108287B2 (en) | 2019-07-05 | 2021-08-31 | Honeywell International Inc. | Spherical electromagnetic machine with two degrees of unconstrained rotational freedom |
| CN110739828A (en) * | 2019-10-25 | 2020-01-31 | 山东大学 | ball type permanent magnet coupling |
| CN112968630A (en) * | 2021-03-29 | 2021-06-15 | 北京航空航天大学 | Multifunctional multi-freedom-degree spherical driver |
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Application publication date: 20180824 |
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| RJ01 | Rejection of invention patent application after publication |