CN109617281A - A kind of permanent magnetism spherical rotor support construction - Google Patents
A kind of permanent magnetism spherical rotor support construction Download PDFInfo
- Publication number
- CN109617281A CN109617281A CN201910038507.9A CN201910038507A CN109617281A CN 109617281 A CN109617281 A CN 109617281A CN 201910038507 A CN201910038507 A CN 201910038507A CN 109617281 A CN109617281 A CN 109617281A
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- rotor
- support column
- equatorial plane
- lower case
- mandril
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- 238000010276 construction Methods 0.000 title claims abstract description 19
- 230000005389 magnetism Effects 0.000 title claims abstract description 16
- 239000000853 adhesive Substances 0.000 claims description 2
- 230000001070 adhesive effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 238000009826 distribution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of permanent magnetism spherical rotor support construction, which includes bottom surface support column, lateral bolster dagger group, equatorial plane support column group, stator lower case；The equatorial plane support column group includes 5 identical equatorial plane support columns, is mounted on the designated position of the stator lower case equatorial plane；The lateral bolster dagger group includes 5 identical lateral bolster daggers, is mounted on the designated position of stator lower casing body side surface；The bottom surface support column arrangement is identical as lateral bolster dagger, is mounted on stator lower case bottom center point；There are mounting holes in the position of designated mounting support column for the stator lower case.Equatorial plane support column can prevent the generation of rotor high-speed motion from slanting in the present invention, equatorial plane support column head uses the bulb plunger with spring simultaneously, inhibit the shake generated when rotor motion, and reduce the contact area of support column and rotor block, and then reduces frictional force；It remains to support rotor after one or more support column arrangement damages to work normally, high reliablity.
Description
Technical field
The present invention relates to the technical fields of globular motor, and in particular to a kind of permanent magnetism spherical rotor support construction.
Background technique
With the fast development of industrial manufacturing industry and steeply rising for human cost, robot, mechanical arm, panoramic shooting
It is first-class to realize that High-precision servo telecontrol equipment has obtained widespread need and application in hyperspace.In order to realize mostly freely
Degree movement generallys use more single-degree-of-freedom motor combination mechanical transmission mechanisms and cooperates, and system bulk and weight is caused to increase
Add, Mechanical Reliability reduces, dynamic property is poor.Therefore, researcher both domestic and external proposes a kind of achievable multiple degrees of freedom
The advantages that globular motor of movement, wherein permanent magnetism spherical motor is simple, small in size, light-weight with its structure, is by more concern.
Permanent magnetism spherical rotor is mostly spherical structure, and stator is spherical shell structure.Permanent magnet and energization winding are according to certain
Rule is distributed on rotor sphere and stator spherical shell.It needs to maintain a certain distance, and turns between rotor sphere and stator spherical shell
Daughter allows for the free movement in stator spherical shell, this brings difficulty for the support structure designs of rotor block.Such as: 1.
Stator spherical shell bottom dead center position installs a multi-directional ball；2. installing the several universal of composition circular ring shape in stator spherical shell bottom end side
Ball or rounded convex support column；3. rotor block is designed as hemispherical, and inside is emptied.Stator spherical shell bottom end is installed by support column, support
Top end is coupled by universal joint with rotor block.Have the disadvantage that 1. are installed one in stator spherical shell bottom dead center position
The structural stability of a multi-directional ball is poor, is very easy to cause slanting for rotor block when the rotor is moving, bumps against with stator spherical shell.No
Rotor block proper motion is only influenced, also will cause motor damage；2. installing the several of composition circular ring shape in stator spherical shell bottom end side
Multi-directional ball equally has the shortcomings that stability is poor, and it is excessive to will cause frictional force using rounded convex support column, causes output torque mistake
It is small；3. rotor block, which is designed as hemispherical, can sacrifice permanent magnet quantity and arrangement integrality, output torque and rotor are influenced
The motion range and precision of body.
Summary of the invention
The technical problems to be solved by the invention are as follows: the friction generated between support construction when 1) reducing rotor block movement
Power；2) stability of rotor block movement is improved；3) it will not influence rotor block structure.
The technical solution adopted by the present invention are as follows: a kind of permanent magnetism spherical rotor support construction, the support construction include bottom
Face support column, lateral bolster dagger group, equatorial plane support column group, stator lower case；The equatorial plane support column group includes 5 identical
Equatorial plane support column, be mounted on the designated position of the stator lower case equatorial plane；The lateral bolster dagger group includes 5 identical
Lateral bolster dagger is mounted on the designated position of stator lower casing body side surface；The bottom surface support column arrangement is identical as lateral bolster dagger,
It is mounted on stator lower case bottom center point；There are mounting holes in the position of designated mounting support column for the stator lower case.
Wherein, the equatorial plane support column is made of long rotor mandril and the bulb plunger with spring, and bulb plunger passes through
Adhesive is embedded in the head of long rotor mandril；The long rotor mandril middle section be with externally threaded cylindrical body, for and
Stator lower case passes through spiral marking connection；The long rotor mandril tail portion is square pole；
Wherein, the lateral bolster dagger is made of short rotor mandril and rod failure multi-directional ball.The short rotor mandril head has
Threaded mounting hole, rod failure multi-directional ball and short rotor mandril pass through spiral marking connection.The short rotor mandril middle part portion is with outer spiral shell
The cylindrical body of line, for being locked with stator lower case by spiral marking connection, and by gasket and bolt；The long rotor mandril tail
Portion is square pole；
Wherein, the stator lower case with rotor ball is concentric installs；
Wherein, it is uniformly provided on the equatorial plane circumference of the stator lower case and is installed with the screw thread of equatorial plane support column cooperation
Hole, each threaded mounting hole interval angles are 72 degree；
Wherein, it in the stator lower case, is uniformly provided in the cross-sectional periphery parallel with the equatorial plane and matches with lateral bolster dagger
The threaded mounting hole of conjunction, each threaded mounting hole interval angles are 72 degree；The company at any point and the centre of sphere in the cross-sectional periphery
Line and rotor ball central axis angle are 35 degree；
Wherein, stator lower case bottom surface and rotor ball central axis point of intersection are equipped with the screw thread cooperated with bottom surface support column
Mounting hole.
A kind of permanent magnetism spherical rotor support construction of the present invention, has the advantage that
1. lateral bolster dagger group and bottom surface support column use universal ball structure in the present invention, sliding friction is changed into rolling
Friction, the frictional force generated between support construction when rotor ball movement is effectively reduced；
2. equatorial plane support column can prevent the generation of rotor high-speed motion from slanting in the present invention, while equatorial plane supporting head
Portion uses the bulb plunger with spring, inhibits the shake generated when rotor motion, and reduce the contact surface of support column and rotor block
Product, and then reduce frictional force；
3. the present invention uses 5 equatorial plane support columns for one group, 5 lateral bolster daggers are one group, wherein one or more
It remains to support rotor after a support column arrangement damage to work normally, high reliablity.
Detailed description of the invention
Fig. 1 is each support column distribution schematic diagram；
Fig. 2 is stator lower case mounting hole schematic diagram；
Fig. 3 is equatorial plane support column schematic diagram；
Fig. 4 is side and bottom surface support column schematic diagram；
Fig. 5 stator lower case and rotor ball scheme of installation；
In figure: 1 is bottom surface support column, and 2 be stator lower case, and 3 be rotor ball, and 1a is the first equatorial plane support column, and 1b is
Second equatorial plane support column, 1c are third equatorial plane support column, and 1d is the 4th equatorial plane support column, and 1e is the support of the 5th equatorial plane
Column, 2-1 are stator lower case bottom center mounting hole, and 2-1a is the first mounting hole, and 2-1b is the second mounting hole, and 2-1c is third
Mounting hole, 2-1d are the 4th mounting hole, and 2-1e is the 5th mounting hole, and 2a is first side support column, and 2b is second side support
Column, 2c are third lateral bolster dagger, and 2d is the 4th lateral bolster dagger, and 2e is the 5th lateral bolster dagger, and 2-2a is the 6th mounting hole,
2-2b is the 7th mounting hole, and 2-2c is the 8th mounting hole, and 2-2d is the 9th mounting hole, and 2-2e is the tenth mounting hole, and i-a is long turns
Sub- mandril, i-b are the bulb plunger with spring, and i-a1 is long rotor mandril middle section, and i-a2 is long rotor mandril tail portion,
Ii-a is short rotor mandril, and ii-b is rod failure multi-directional ball, and ii-a1 is short rotor mandril head, and ii-a2 is in short rotor mandril
Portion, ii-c are gasket, and ii-d is bolt locking, and ii-a3 is long rotor mandril tail portion.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to figs. 1 to Fig. 4, a kind of permanent magnetism spherical rotor support construction, it is characterised in that the support construction includes red
Road face support column group, lateral bolster dagger group, bottom surface support column 1, stator lower case 2.The equatorial plane support column group includes 5 phases
With equatorial plane support column i.e. the first equatorial plane support column 1a, the second equatorial plane support column 1b, third equatorial plane support column 1c, the
Four equatorial plane support column 1d, the 5th equatorial plane support column 1e, be mounted on the stator lower case equatorial plane the first mounting hole 2-1a,
Two mounting hole 2-1b, third mounting hole 2-1c, the 4th mounting hole 2-1d, the 5th mounting hole 2-1e.The lateral bolster dagger group packet
Include 5 i.e. first side support column 2a of identical lateral bolster dagger, second side support column 2b, third lateral bolster dagger 2c,
Four lateral bolster dagger 2d, the 5th lateral bolster dagger 2e are mounted on designated mounting hole i.e. the 6th mounting hole of stator lower casing body side surface
2-2a, the 7th mounting hole 2-2b, the 8th mounting hole 2-2c, the 9th mounting hole 2-2d, the tenth mounting hole 2-2e.The bottom surface support
1 structure of column is identical as lateral bolster dagger, is mounted on stator lower case bottom center mounting hole 2-1.The stator lower case 2 is referring to
There are mounting holes for the position of Dingan County's dress support column.
For 5 equatorial plane support columns i.e. the first equatorial plane support column 1a, the second equatorial plane support column 1b, the third equatorial plane
Support column 1c, the 4th equatorial plane support column 1d, the 5th equatorial plane support column 1e only describe the first equatorial plane support column 1a below.
First equatorial plane support column 1a is made of long rotor mandril i-a and the bulb plunger i-b with spring, and bulb plunger passes through viscous
Mixture is embedded in the head of long rotor mandril.Long rotor mandril middle section i-a1 is to be used for and determine with externally threaded cylindrical body
Sub- lower case passes through spiral marking connection.Long rotor mandril tail portion i-a2 is square pole.For 5 lateral bolster dagger, that is, first side branch
Dagger 2a, second side support column 2b, third lateral bolster dagger 2c, the 4th lateral bolster dagger 2d, the 5th lateral bolster dagger 2e, under
Face only describes first side support column 2a.The first side support column 2a is by short rotor mandril ii-a and rod failure multi-directional ball ii-b
Composition.Short rotor mandril head ii-a1 has threaded mounting hole, and rod failure multi-directional ball and short rotor mandril pass through spiral marking connection.Short turn
Ii-a2 is for passing through spiral marking connection with stator lower case, and to pass through gasket with externally threaded cylindrical body in the middle part of sub- mandril
Ii-c and bolt lock ii-d；Long rotor mandril tail portion ii-a3 is square pole；The stator lower case 2 is felt at ease together with rotor ball 3
Dress；The threaded mounting hole with the cooperation of equatorial plane support column, each spiral shell are uniformly provided on the equatorial plane circumference of the stator lower case 2
Line mounting hole interval angles are 72 degree；In the stator lower case 2, it is uniformly provided in the cross-sectional periphery parallel with the equatorial plane and side
The threaded mounting hole of face support column cooperation, each threaded mounting hole interval angles are 72 degree.Any point in the cross-sectional periphery
Line and rotor ball central axis angle with the centre of sphere are 35 degree；2 bottom surface of stator lower case and rotor ball central axis point of intersection
Equipped with the threaded mounting hole cooperated with bottom surface support column.
Claims (7)
1. a kind of permanent magnetism spherical rotor support construction, it is characterised in that: the support construction includes bottom surface support column, lateral bolster
Dagger group, equatorial plane support column group, stator lower case；The equatorial plane support column group includes 5 identical equatorial plane support columns,
It is mounted on the designated position of the stator lower case equatorial plane；The lateral bolster dagger group includes 5 identical lateral bolster daggers, installation
In the designated position of stator lower casing body side surface；The bottom surface support column arrangement is identical as lateral bolster dagger, is mounted on stator lower casing
Body bottom center point；There are mounting holes in the position of designated mounting support column for the stator lower case.
2. a kind of permanent magnetism spherical rotor support construction according to claim 1, it is characterised in that: the equatorial plane branch
Dagger is made of long rotor mandril and the bulb plunger with spring, and bulb plunger is embedded in the head of long rotor mandril by adhesive
Portion；The long rotor mandril middle section is with externally threaded cylindrical body, for passing through spiral marking connection with stator lower case；Institute
Stating long rotor mandril tail portion is square pole.
3. a kind of permanent magnetism spherical rotor support construction according to claim 1 or 2, it is characterised in that: the side
Support column is made of short rotor mandril and rod failure multi-directional ball；There are threaded mounting hole, rod failure multi-directional ball in the short rotor mandril head
Pass through spiral marking connection with short rotor mandril；The short rotor mandril middle part portion is to be used for and stator with externally threaded cylindrical body
Lower case is locked by spiral marking connection, and by gasket and bolt；The long rotor mandril tail portion is square pole.
4. a kind of permanent magnetism spherical rotor support construction according to claim 1, it is characterised in that: the stator lower casing
Body with rotor ball is concentric installs.
5. a kind of permanent magnetism spherical rotor support construction according to claim 1 or 4, it is characterised in that: the stator
The threaded mounting hole with the cooperation of equatorial plane support column, each threaded mounting hole interval are uniformly provided on the equatorial plane circumference of lower case
Angle is 72 degree.
6. a kind of permanent magnetism spherical rotor support construction according to claim 1, it is characterised in that: the stator lower casing
On body, the threaded mounting hole with the cooperation of lateral bolster dagger, each screw thread peace are uniformly provided in the cross-sectional periphery parallel with the equatorial plane
Filling hole interval angles is 72 degree；The line of any point and the centre of sphere and rotor ball central axis angle are 35 in the cross-sectional periphery
Degree.
7. a kind of permanent magnetism spherical rotor support construction according to claim 1, it is characterised in that: the stator lower casing
Body bottom surface and rotor ball central axis point of intersection are equipped with the threaded mounting hole cooperated with bottom surface support column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910038507.9A CN109617281B (en) | 2019-01-16 | 2019-01-16 | Permanent magnet spherical motor rotor supporting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910038507.9A CN109617281B (en) | 2019-01-16 | 2019-01-16 | Permanent magnet spherical motor rotor supporting structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109617281A true CN109617281A (en) | 2019-04-12 |
| CN109617281B CN109617281B (en) | 2020-09-29 |
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ID=66019761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910038507.9A Active CN109617281B (en) | 2019-01-16 | 2019-01-16 | Permanent magnet spherical motor rotor supporting structure |
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| Country | Link |
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| CN (1) | CN109617281B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110932508A (en) * | 2019-12-30 | 2020-03-27 | 安徽大学 | Positioning false ball structure and spherical motor rotor aligning positioning method |
| EP3726711A1 (en) * | 2019-04-15 | 2020-10-21 | Ruben Medzhlumyan | Brushless motor-generator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101282070A (en) * | 2008-05-12 | 2008-10-08 | 天津大学 | Three-freedom Halback array permanent magnetism sphericity synchronous motor |
| JP2010060011A (en) * | 2008-09-02 | 2010-03-18 | Yaskawa Electric Corp | Spherical bearing and spherical surface motor |
| CN202160025U (en) * | 2011-07-29 | 2012-03-07 | 上海理工大学 | Multi-freedom degree spherical motor |
| CN106877608A (en) * | 2017-03-15 | 2017-06-20 | 天津大学 | Three Degree Of Freedom permanent magnet spherical motor |
| CN108448867A (en) * | 2018-04-27 | 2018-08-24 | 天津大学 | A kind of permanent magnetism spherical motor with outer-rotor structure |
-
2019
- 2019-01-16 CN CN201910038507.9A patent/CN109617281B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101282070A (en) * | 2008-05-12 | 2008-10-08 | 天津大学 | Three-freedom Halback array permanent magnetism sphericity synchronous motor |
| JP2010060011A (en) * | 2008-09-02 | 2010-03-18 | Yaskawa Electric Corp | Spherical bearing and spherical surface motor |
| CN202160025U (en) * | 2011-07-29 | 2012-03-07 | 上海理工大学 | Multi-freedom degree spherical motor |
| CN106877608A (en) * | 2017-03-15 | 2017-06-20 | 天津大学 | Three Degree Of Freedom permanent magnet spherical motor |
| CN108448867A (en) * | 2018-04-27 | 2018-08-24 | 天津大学 | A kind of permanent magnetism spherical motor with outer-rotor structure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3726711A1 (en) * | 2019-04-15 | 2020-10-21 | Ruben Medzhlumyan | Brushless motor-generator |
| CN110932508A (en) * | 2019-12-30 | 2020-03-27 | 安徽大学 | Positioning false ball structure and spherical motor rotor aligning positioning method |
| CN110932508B (en) * | 2019-12-30 | 2021-07-02 | 安徽大学 | Positioning false ball structure and spherical motor rotor aligning positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109617281B (en) | 2020-09-29 |
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