CN109802513B - Permanent magnet rotor driving type multi-degree-of-freedom motion motor - Google Patents
Permanent magnet rotor driving type multi-degree-of-freedom motion motor Download PDFInfo
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- CN109802513B CN109802513B CN201910098051.5A CN201910098051A CN109802513B CN 109802513 B CN109802513 B CN 109802513B CN 201910098051 A CN201910098051 A CN 201910098051A CN 109802513 B CN109802513 B CN 109802513B
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Abstract
The invention provides a permanent magnet rotor driving type multi-degree-of-freedom motion motor, and relates to the technical field of multi-degree-of-freedom motors. The upper end of the rotor, which comprises a fixed shaft, is fixedly connected with the inner ring of the bearing and is connected with the bottom end of the upper output shaft through an oil film; the bearing outer ring is fixedly connected with the output shaft, the rotor frame is fixed on the outer ring, and the plurality of permanent magnet yoke parts and the rotor permanent magnets are arranged around the rotor frame. The stator is positioned at the periphery of the rotating part of the rotor and comprises a plurality of left semicircular cylinders and corresponding right semicircular cylinders, stator coil yokes are distributed on the inner side of the stator, and the motor rotor can move in multiple degrees of freedom by introducing different energizing strategies into the stator coils. The invention mainly solves the problems of large volume, complex structure, low precision, low efficiency and the like of the traditional multi-degree-of-freedom motor. The multi-degree-of-freedom motion of the motor can be realized by applying different power-on strategies, and the motor has the advantages of simple and compact structure, small size, accurate control, convenience in use, wide application and the like.
Description
Technical Field
The invention relates to the technical field of motors with multiple degrees of freedom.
Background
With the progress of social economy and technology, in order to realize higher and more strict and accurate motion, the motor is required to realize autorotation, the motor is required to complete certain inclination in some fields, the traditional motor has single degree of freedom, and the interconnection of a plurality of single-degree-of-freedom systems has large volume, complex structure, low efficiency and low economic benefit, while the fields of a plurality of high-tech technologies such as bionic robots, aerospace, mechanical arms and the like urgently need the motors with higher precision and lower loss to complete the motion.
The multi-degree-of-freedom motor has a wide prospect as a new research field in recent times, wherein the research on the multi-degree-of-freedom motor can trace back to the fifties of the last century at the earliest, and the researched multi-degree-of-freedom motor has a lot of defects due to the lack of theoretical support and practical guidance. Until the eighties and ninety years of the last century, the theory of the multi-degree-of-freedom motor is gradually full, and a plurality of new models and new theories emerge.
Most of the existing multi-degree-of-freedom motors can only meet three-degree-of-freedom motion and cannot complete relative telescopic motion, in the research of bionic eyes and mechanical eyes, eyeballs are required to simulate pupil stretching, expanding and contracting, and the existing multi-degree-of-freedom motors are difficult to independently complete telescopic motion in the technical field. Therefore, the research on the multi-free motor capable of independently completing various bionic mechanical motions is particularly important.
Disclosure of Invention
The invention aims to solve the technical problem of providing a permanent magnet rotor driving type multi-degree-of-freedom motion motor, mainly solving the problems of large size, complex structure, low efficiency and complex control of the traditional multi-degree-of-freedom motor and providing a new thought. The multi-degree-of-freedom motor disclosed by the invention can realize the multi-degree-of-freedom motion of the motor only by applying different energizing strategies to the stator coil on the stator, and has the advantages of simple and compact structure, small volume, quick response, easiness in control, higher accuracy, convenience in use, wide application and the like.
In order to achieve the above purposes, the invention adopts the technical scheme that: the permanent magnet rotor driving type multi-degree-of-freedom motion motor is characterized by comprising a shell, a stator and a rotor; the rotor comprises a fixed shaft at the lower part, a self-aligning ball bearing is arranged at the upper end of the fixed shaft, the top of the fixed shaft is fixedly connected with an inner ring of the self-aligning ball bearing, and the top of the fixed shaft is connected with the bottom end of an output shaft above the fixed shaft through an oil film; the outer ring of the self-aligning ball bearing is fixedly connected with the output shaft through a connecting piece; a rotor frame is further fixed on an outer ring of the self-aligning ball bearing, a plurality of permanent magnet yoke parts are arranged around the rotor frame, rotor permanent magnets are arranged among the permanent magnet yoke parts, and the outline of a rotating part of the rotor is spherical;
the stator is located the periphery of rotor rotating part, the stator includes left half ring column of a plurality of and right half ring column that corresponds, and the inboard of the right half ring column that corresponds of a plurality of left half ring column all distributes and has a plurality of stator coil yoke, and the coil winding is being twined to stator coil yoke, makes motor rotor and output shaft do the multi freedom through the different circular telegram tactics to a plurality of stator coil and move.
Preferably, the yoke portion may be wound with a variable number of turns of the coil winding.
Here, the left semicircular cylinder and the corresponding right semicircular cylinder refer to left and right sides of the fixed shaft as a reference object, and may include semicircular cylinders on both sides in the left-right direction, the front-back direction, and the like, and the semicircular cylinders on both sides may be connected to each other, or may not be a standard two-pole type creel structure, as seen in fig. 2. The coil winding with variable turns and the energizing strategy are set properly as long as the position is proper, and the deflection can also reach the requirement.
Preferably, the stator comprises a bipolar type passing line frame structure formed by mutually connecting a plurality of left semicircular cylinders and corresponding right semicircular cylinders.
Preferably, the two polar axes of the two-polar warp frame structure are horizontal.
Preferably, each of the left semicircular annular cylinders and the corresponding right semicircular annular cylinders comprises a symmetrical left middle semicircular annular cylinder and a symmetrical right middle semicircular annular cylinder, and the planes of the left middle semicircular annular cylinder and the right middle semicircular annular cylinder are vertical to the vertical direction; the rotation movement can be completed by electrifying the middle layer coil, and the inclination movement of the rotor can be completed by electrifying the other layer coils.
Preferably, the inner sides of two poles of the two-pole warp frame structure, namely the inner side of the intersection of the semicircular cylinders, are respectively provided with a stator special control coil yoke.
Preferably, the stator comprises a plurality of left semicircular cylinders and a plurality of right semicircular cylinders, and the vertical plane of the stator relative to the two interpolar axes is of a symmetrical structure.
Preferably, the stator comprises 3 left semi-circular cylinders and 3 right semi-circular cylinders; be 30 degrees contained angles between 3 left semicircle annular cylinders, be 30 degrees contained angles between 3 right semicircle annular cylinders.
Preferably, 4 stator coil yokes are respectively distributed on the inner sides of the left semicircular annular cylinder and the right semicircular annular cylinder, and 2 stator special control coil yokes are arranged at 2 intersections; the rotor frame includes 8 permanent magnet yokes, is equipped with 8 rotor permanent magnet between 8 permanent magnet yokes, is eight utmost point cooperation structures.
Preferably, a sensor for detecting the position and the rotating speed of the rotor is also arranged in the rotor; the rotor permanent magnet is a radial magnetizing permanent magnet; the rotor permanent magnet is embedded in the rotor frame body.
Furthermore, the stator is fixed on a lifting platform, the lifting platform is connected with a telescopic mechanism, and the telescopic mechanism is fixedly connected with the shell; the motor can rotate, deflect and move up and down in a telescopic mode through different power-on strategies. As one embodiment of the present invention, preferably, the telescopic mechanism is a magnetic direct drive type elevating mechanism; as a specific embodiment of the present invention, the telescopic mechanism is provided with a buffer mechanism or a guide mechanism; as an embodiment of the present invention, it is preferable that the magnetic direct drive type elevating mechanism includes: the lifting platform is fixed with the end cover at the bottom of the shell through a compression spring, a permanent magnet fixed at the bottom of the lifting platform is arranged at the upper end of the compression spring, and an expansion coil yoke and an electromagnetic expansion driving coil thereof fixed at the end of the bottom of the shell are arranged at the lower end of the compression spring; the electromagnetic telescopic driving coil controls the telescopic permanent magnet and the compression spring, and the elasticity of the compression spring is utilized to enable the lifting platform to complete telescopic motion; the number of the electromagnetic driving lifting mechanisms is one or a plurality of electromagnetic driving lifting mechanisms.
The invention has the technical effects that: the permanent magnet rotor driving type multi-degree-of-freedom motion motor mainly solves the problems of large size, complex structure, low efficiency and complex control of the traditional multi-degree-of-freedom motor. The invention can realize the multi-degree-of-freedom movement of the motor only by applying different energizing strategies to the stator coil on the stator, and can conveniently adjust the motor rotor in different degrees. The device has the advantages of simple and compact structure, small volume, quick response, easy control, high accuracy, convenient use, wide application and the like.
The invention can also solve the problems of large abrasion, low precision, low efficiency and the like of the traditional multi-degree-of-freedom motor. The rotation and deflection motion of the motor can be conveniently realized by applying different energizing strategies to the stator coil on the stator; the device has the advantages of simple and compact structure, small volume, accurate control, quick response, convenient use and the like. The invention can also carry out the up-and-down telescopic motion of the rotor, and carry out the adjustment of different degrees on the motor rotor. The special telescopic motion of the bionic eye can realize visual bionics and is widely applied to the fields of practical mechanical bionic eyes and the like.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a sectional view a-a in fig. 1.
Fig. 3 is a sectional view taken along line B-B in fig. 1.
Fig. 4 is a schematic perspective view of a self-aligning ball bearing.
Fig. 5 is a schematic view of a connection structure of the self-aligning ball bearing and the upper part of the output shaft.
Fig. 6 is a schematic view of a connection structure of the self-aligning ball bearing and the lower part of the fixed shaft.
Fig. 7 is a schematic view of a connection structure of a rotor frame body and a self-aligning ball bearing.
Fig. 8 is a schematic view of the shaft connection structure of the motor.
Fig. 9 is a cross-sectional view taken along line C-C of fig. 8.
Fig. 10 is a schematic structural view of a rotor of the motor.
Fig. 11 is a schematic structural view of a rotor permanent magnet.
Fig. 12 is a schematic structural view of a rotor frame body.
Fig. 13 is a schematic cross-sectional view of a stator with coils.
Fig. 14 is a schematic perspective view and a layered labeling diagram of a stator.
Fig. 15 is a classification diagram of the stator yoke corresponding to the coil.
Fig. 16 is a perspective sectional view of D-D in fig. 14.
Fig. 17 is a schematic view of a stator lifter coupler.
Fig. 18 is a schematic bottom view of the electromagnetically driven elevating platform.
Fig. 19 is a schematic view of a conventional compression spring structure.
FIG. 20 is a schematic view of the bottom end cap.
Fig. 21 is an exploded view of the assembly of the motor bottom end cap, the electromagnetic drive elevator table and the conventional compression spring retraction mechanism.
Fig. 22 is a schematic diagram of the motor retraction movement principle.
Fig. 23 is a schematic diagram of the motor extension movement principle.
Fig. 24 is a schematic diagram of the motor rotation movement principle.
Fig. 25 is a schematic diagram of the motor tilting motion principle.
Fig. 26 is a schematic block diagram of motor drive control.
Meaning of all reference numerals in the figures
1-output shaft slot, 2-output shaft, 3-upper end fixing bolt, 4-bottom bolt, 5-rotor, 5 a-permanent magnet yoke, 5 b-rotor permanent magnet, 5 c-rotor and bearing connecting part 6-bottom end cover, 7-self-aligning ball bearing, 7 a-bearing outer ring, 7 b-bearing ball, 7 c-bearing inner ring, 7 d-connecting piece, 8-fixed shaft (input shaft), 8 a-fixed shaft bearing connecting piece, 9-motor side cover, 10-stator lifting platform connecting piece, 10 a-lifting platform connecting part, 10 b-stator connecting part, 11-electromagnetic telescopic driving coil, 12-stator coil, 12 a-semi-circular cylindrical stator crossing corresponding to special adjusting coil, 13-hollow sphere, 6 semi-circular cylindrical crossing structural stator, 14-permanent magnet, 15-stator coil yoke, 15 a-stator special control coil yoke, 16-connecting shaft oil film, 17-conventional compression spring, 18-expansion coil yoke, 19-electromagnetic driving lifting platform, 19 a-lifting platform permanent magnet groove, A1, B1, C1, D1 and E1 are upper left layer windings, F1, G1, H1, I1 and J1 are upper right layer windings (wherein, the number 1 represents an upper layer, 2 represents a middle layer and 3 represents a lower layer); A. f- (intersection) special stator; upper layer (1) -upper layer winding, middle layer (2) -middle layer winding, lower layer (3) -lower layer winding (note: same ring coil is not same layer); 20-upper end cap.
Detailed Description
The drawings are only for purposes of illustrating examples and are not to be construed as limiting the patent; for better illustration of the present embodiment, certain elements in the drawings may be omitted, enlarged or reduced, and the omission, enlargement or reduction in the drawings may be understood by those skilled in the art. The following detailed description of the present patent refers to the accompanying drawings.
As one embodiment of the present invention. The technical scheme adopted by the invention is as follows: the technical scheme adopted by the invention is as follows: the permanent magnet rotor driving type multi-degree-of-freedom motion motor is characterized by comprising a shell, a stator and a rotor; the rotor comprises a fixed shaft 8 at the lower part, a self-aligning ball bearing 7 is arranged at the upper end of the fixed shaft 8, the top of the fixed shaft 8 is fixedly connected with an inner ring of the self-aligning ball bearing 7, and the top of the fixed shaft 8 is connected with the bottom end of the output shaft 2 above through an oil film 16; the outer ring of the self-aligning ball bearing 7 is fixedly connected with the output shaft 2 through a connecting piece 7 d; a rotor frame is further fixed on an outer ring of the self-aligning ball bearing 7, a plurality of permanent magnet yokes 5a are arranged around the rotor frame, rotor permanent magnets 5b are arranged among the permanent magnet yokes 5a, and the outline of a rotating part of the rotor is spherical;
the stator is located the periphery of rotor rotating part, the stator includes a plurality of left half ring column and the right half ring column that corresponds, and a plurality of stator coil yoke 15 has all been distributed to the inboard of a plurality of left half ring column and the right half ring column that corresponds, and stator coil yoke portion is winding coil winding, makes motor rotor and output shaft 2 do the multi freedom motion through exerting 15 different circular telegram tactics to a plurality of stator coil.
The motor mainly solves the problems of large size, complex structure, low efficiency and complex control of the traditional multi-degree-of-freedom motor, and provides a new idea. The multi-degree-of-freedom motor disclosed by the invention can realize the multi-degree-of-freedom motion of the motor only by applying different energizing strategies to the stator coil on the stator, and has the advantages of simple and compact structure, small volume, quick response, easiness in control, higher accuracy, convenience in use, wide application and the like.
As one embodiment of the present invention, preferably, the yoke portion may be wound with a coil winding having a variable number of turns.
As a specific embodiment of the present invention, preferably, the stator includes a two-pole type passing-coil frame structure formed by mutually connecting a plurality of left semicircular cylinders and corresponding right semicircular cylinders.
In an embodiment of the present invention, the left semicircular cylinder and the corresponding right semicircular cylinder include semicircular cylinders on the left and right sides and on the front and back sides, which are connected with each other, but may not be a standard two-pole type creel structure. As long as the position is adjusted properly, the coil winding with the variable number of turns and the energizing strategy are set properly, and the coil winding can also be deflected to reach the required angle.
In one embodiment of the present invention, the two-pole warp frame structure preferably has a horizontal axis.
As a specific embodiment of the present invention, preferably, each of the plurality of left semi-circular cylinders and the corresponding right semi-circular cylinders includes a symmetrical left middle semi-circular cylinder and a symmetrical right middle semi-circular cylinder, and a plane where the left middle semi-circular cylinder and the right middle semi-circular cylinder are located is perpendicular to the vertical direction; the rotation movement can be completed by electrifying the middle layer coil, and the inclination movement of the rotor can be completed by electrifying the other layer coils. The rotation motion of the motor can be realized only by adjusting the frequency of the alternating current of the embodiment according to the actual application rotating speed.
As an embodiment of the present invention, it is preferable that a stator-specific control coil yoke 15a is provided inside each of two poles of the two-pole warp frame structure, i.e., inside a crossing of the semicircular cylinders.
As an embodiment of the present invention, preferably, the stator has a symmetrical structure about a vertical plane of the two polar axis, and the left and right semi-circular cylinders are symmetrical about the vertical plane of the two polar axis.
The rotation and deflection motion of the motor can be conveniently realized by applying different energizing strategies to the stator coil on the stator; the device has the advantages of simple and compact structure, small volume, accurate control, quick response, convenient use and the like.
As one embodiment of the present invention, preferably, the stator includes 3 left half circular cylinders and 3 right half circular cylinders; be 30 degrees contained angles between 3 left semicircle annular cylinders, be 30 degrees contained angles between 3 right semicircle annular cylinders.
As an embodiment of the present invention, preferably, 4 stator coil yokes 15 are distributed on the inner sides of the left semi-circular cylindrical body and the right semi-circular cylindrical body, and 2 stator special control coil yokes 15a are distributed at 2 intersections; the rotor frame includes 8 permanent magnet yoke portion 5a, is equipped with 8 rotor permanent magnet 5b between 8 permanent magnet yoke portion 5a, is eight utmost point cooperation structures.
As an embodiment of the present invention, it is preferable that a sensor for detecting a position and a rotation speed of the rotor is further provided in the rotor; the rotor permanent magnet 5b is a radial magnetizing permanent magnet; the rotor permanent magnet (5b) is embedded in the rotor frame body.
As a specific embodiment of the present invention, further, the stator is fixed on the lifting platform 19, the lifting platform 19 is connected with the telescoping mechanism, and the telescoping mechanism is fixedly connected with the housing; the motor can rotate, deflect and move up and down in a telescopic mode through different power-on strategies. As one embodiment of the present invention, preferably, the telescopic mechanism is a magnetic direct drive type elevating mechanism; as a specific embodiment of the present invention, the telescopic mechanism is provided with a buffer mechanism or a guide mechanism; as an embodiment of the present invention, it is preferable that the magnetic direct drive type elevating mechanism includes: the lifting platform 19 is fixed with the bottom end cover 6 of the shell through a compression spring 17, a permanent magnet 14 fixed at the bottom of the lifting platform 19 is arranged at the upper end of the compression spring 17, and an expansion coil yoke 18 fixed on the bottom end cover 6 of the shell and an electromagnetic expansion driving coil 11 thereof are arranged at the lower end of the compression spring 17; the electromagnetic telescopic driving coil 11 controls the telescopic permanent magnet 14 and the compression spring 17, and the lifting platform 19 can complete telescopic motion by utilizing the elasticity of the compression spring 17; the number of the electromagnetic driving lifting mechanisms is one or a plurality of electromagnetic driving lifting mechanisms.
As an embodiment of the present invention, the telescopic device is an electromagnetic telescopic device, including: the lifting platform 19 and the bottom end cover 6 of the shell are fixed through a plurality of compression springs 17, the upper ends of the compression springs 17 are provided with permanent magnets 14 fixed at the bottom of the lifting platform 19, and the lower ends of the compression springs 17 are provided with telescopic coil yokes 18 fixed on the bottom end cover 6 of the shell and electromagnetic telescopic driving coils 11 thereof; the electromagnetic telescopic driving coil 11 controls the telescopic permanent magnet 14 and the compression spring 17, and the lifting platform 19 can complete telescopic motion by utilizing the elasticity of the compression spring 17. And the motor rotor can be adjusted to different degrees. The special telescopic motion of the bionic eye can realize visual bionics and is widely applied to the fields of practical mechanical bionic eyes and the like.
As one embodiment of the present invention. The following description is made with reference to the accompanying drawings.
The invention can be a stator with a cross structure of a plurality of left semi-circular cylinders and a plurality of right semi-circular cylinders. However, if a plurality of semicircular cylinder crossing structures are adopted, the deflection angle in the rotor space is too small, the driving force is too large, the rotor and the stator can be collided seriously, if a plurality of semicircular cylinder crossing structures are adopted, the motion state of the motor can not be accurately controlled, the motor refers to the performance indexes and the motion requirements of the conventional multi-degree-of-freedom motor, the material utilization efficiency can be improved to the maximum degree by optimizing the three left semicircular cylinder crossing structures and the three right semicircular cylinder crossing structures, and the cost is saved to the maximum degree. The included angle of 30 degrees is formed between the left and right two adjacent semicircular cylinders, the crossing angle can be selected flexibly generally, but it needs to be noted that if the selection angle is larger, the deflection angle of the motor can be influenced to weaken the movement capability of the motor, and if the selection angle is too large, the deflection movement can not be performed because the output shaft of the motor is too close to the stator. Similarly, if the selected angle is too small, the distance between the adjacent two layers of coil yokes of the semi-circular cylinder of the stator is too close, so that the coils cannot be smoothly wound on the yoke parts. If the selected angle is too small, the adjacent two layers of semi-circular cylinders are overlapped with the corresponding yoke parts, and the deflection capability and the comprehensive performance of the multi-degree-of-freedom motor are considered, and the deflection motion performance and the requirement which are required at present can be well met by adopting a cross thirty-degree structure. In theory, the stator of the embodiment can be partially modified, but the stable operation condition of the motor is required to be followed: if the stator is symmetrical and left-right asymmetrical, when the driving control coil is electrified, the component force of electromagnetic force induced on the XY two shafts is uneven, so that the control driving scheme becomes complicated, if the rotor is eccentric to a certain degree, the motor system may be crashed, and the method is feasible as long as a small part of modification change is made according with the symmetrical structure.
Referring to fig. 1 to 3, the permanent magnet rotor driving type multiple degree of freedom motion motor includes: the self-aligning ball bearing comprises a stator, a rotor, a self-aligning ball bearing, a spring and a shell part; the permanent magnet rotor driving type multi-degree-of-freedom motion motor rotor is a grooved ball shell, a built-in permanent magnet structure is adopted, the inner portion of the rotor is fixedly connected with an outer bearing ring, meanwhile, the outer bearing ring is connected with an output shaft through a fixing support, and a wireless transmission device and a visual image acquisition device are arranged inside the output shaft. The lifting platform is fixed below the fixed bearing, and telescopic motion becomes possible due to the existence of a conventional compression spring, a control telescopic permanent magnet and an electromagnetic drive telescopic coil. The semi-circular cylinder crossed stator yoke part surrounds a coil winding with controllable number of turns and shape and is divided into two side windings and a special winding, the two side windings mainly control the rotation and the inclined operation of the motor, and the special winding mainly perfects the fine adjustment of the rotation and the inclined operation of the motor. The rotor adopts built-in permanent magnets, N, S poles are alternately arranged along the equatorial direction, the permanent magnets are in a spherical shape, and the center of the shell is superposed with the center of the rotor. When the motor is expected to perform autorotation motion, the autorotation motion can be completed only by regularly electrifying the middle layer coil, the inclined motion can be completed by electrifying the upper layer coil and the lower layer coil, and the elevating platform can be controlled to move by electrifying the corresponding current to the coil below the elevating platform, so that the motor is controlled to perform telescopic motion.
After specific current is introduced into the coils on the stator yoke, air gap magnetic flux is changed, so that the rotor rotates relatively, and the motion state of the rotor can be changed by changing the energization strategy and the coil combination. The rotation speed and the position of the rotor are detected by the sensor, the motor can be finely adjusted to move in the expected direction by comparing with the required movement state, the power-on strategy is described in detail later, the structural function of the motor is gradually described from the center of the motor to two sides, and finally the electromagnetic drive telescopic mechanism is described.
Referring to fig. 4, the self-aligning ball bearing is composed of an outer ring, an inner ring and balls, which are common, and on the basis of the bearing, a fixing frame is connected and fixed on the outer ring of the bearing to form a structure shown in the figure. The structural requirement of the motor can be met by matching small self-aligning ball bearings according to the requirement.
Referring to fig. 5, the self-aligning ball bearing outer ring extends out of the fixed support and is fixedly connected with the output shaft.
Referring to fig. 6, the self-aligning ball bearing inner ring is fixedly connected with the fixed shaft through an 8a bearing fixed shaft connecting part.
Referring to fig. 7, the self-aligning ball bearing is fixedly connected to the rotor through a 5c rotor bearing connection portion.
Referring to fig. 8, the output shaft and the fixed shaft are coupled together by a conventional oil film.
Referring to fig. 9, the output shaft and the fixed shaft are connected by an oil film, and the oil film between the output shaft and the fixed shaft can prevent the output shaft and the fixed shaft from contacting with each other to generate friction.
Referring to fig. 10-12, the rotor is mainly composed of three parts, the first part is a slotted rotor, the second part is eight permanent magnets, including four N-polarity permanent magnets and four S-polarity permanent magnets, and N, S poles are alternately embedded therein. The third part is the junction of slotted rotor and bearing, and the permanent magnet is embedded structure, has better air gap magnetic density for the embedded permanent magnet of surface-mounted permanent magnet, and bearing rotating part and rotor groove link together, facilitate for the rotor rotates.
Referring to fig. 13, the corresponding coil yoke connecting line intersects the center of the stator.
Referring to fig. 14, the stator structure is also presented. The stator adopts a wire frame combined structure of 3 left semi-circular cylinders and 3 right semi-circular cylinders, which can be understood as two semi-circular cylinders parallel to the xoy plane, two semi-circular cylinders are spliced together to form a complete circular cylinder structure, the two semi-circular cylinders respectively rotate along the X axis by 30 degrees, 0 degree and minus 30 degrees to form a combination of three rotating bodies, a special stator yoke is arranged at the inner side of two crossed parts of the semi-circular cylinders, a coil with variable turns is wound on the special stator yoke, and stator windings for controlling the rotation and deflection of the motor are distributed at two sides of the semi-circular cylinders. The coil is divided into a left upper coil, a right upper coil, a middle coil and a lower coil, 6 semicircular cylinders are all a component of the stator, and the coils can be labeled in a layering mode according to an upper layer, a middle layer and a lower layer, so that the coils in the layers are worth mentioning and are not necessarily different rings.
Referring to fig. 15, the stator coils are given detailed reference numerals, and the coils are numbered in the clockwise direction by alphanumerics, numerals 1, 2 and 3 following the alphanumerics represent an upper layer, a middle layer and a lower layer, and A, F is a special control coil at two intersections of a semicircular ring cylinder.
Referring to fig. 16, a stator structure is described, giving a cross-sectional view of the stator.
Referring to fig. 17, the stator lifting platform fixing part is to fix the stator and the lifting platform together, and the stator and the rotor do not move relative to each other in a telescopic manner when the motor completes the telescopic movement.
Referring to fig. 18-21, the lifting mechanism is composed of four parts, namely a control telescopic permanent magnet, a control telescopic moving coil and a base. Fig. 18 is a schematic view of the elevator table, fig. 19 is a schematic view of a conventional compression spring, and fig. 20 is a schematic view of the base and the control expansion coil. Fig. 21 is an exploded view of the assembly of the elastic telescopic motion mechanism.
The motor extension and retraction movement described with reference to fig. 22-23 is controlled by the bottom electromagnetic drive lifting platform, and the lifting platform is driven by the bottom conventional compression spring and the electromagnetic force, the permanent magnet above the coil is N-pole, when the motor needs to perform extension movement, i.e. the output shaft moves upward, only a dc current that is counterclockwise as seen from above the motor needs to be applied to the bottom coil, and similarly, when the motor needs to perform retraction movement, only a dc current that is clockwise as seen from above the motor needs to be applied to the bottom coil.
Referring to fig. 24, the rotation motion of the motor is driven by the middle coil on the stator, the diagram clearly shows the principle of counterclockwise energization at a certain time, and it can be seen from the diagram that the motor rotates counterclockwise under the action of electromagnetic force, and when the rotation angle reaches 36 °, the energization strategies of all the coils also extend clockwise counterclockwise. As shown in the figure, when viewed counterclockwise from the zero clock direction, the power-on at this moment is 00NSN (0 represents no power-on), and the power-on strategy after rotating counterclockwise by 36 ° is N00NSN00NS, i.e. one bit is clockwise.
Referring to the upper and lower layer drives of the deflecting motion stator of the motor shown in fig. 25, the energizing strategy of clockwise deflection at a certain moment is explicitly given, and the counterclockwise deflection motion can be completed only by interchanging NS in the figure.
All the fixing structures and materials in the motor will be described below.
All fixed knot of this motor construct: 1. the motor end cover and the motor side cover are fixed together through a hexagon nut. 2. The output shaft is connected with the bearing through a bracket. 3. The fixed shaft is connected with the bearing through a fixing mechanism 8 a. 4. The rotor is connected to the bearing by a fixing mechanism 5 c. 5. The stator is connected with the lifting platform through a fixing mechanism 10. 6. The fixed shaft and the output shaft are connected together through an oil film. 7. The bottom end of the fixed shaft is connected with the lifting platform. 8. The motor bottom cover is fixed with the motor through a hexagon nut.
The motor adopts a bearing which is a self-aligning ball bearing, the fixed shaft is connected with the output shaft by adopting an oil film, and the spring part adopts a conventional compression spring. The rest fixing structures, the output shaft end cap nut and the like are all made of conventional materials, and redundant description is omitted.
Referring to fig. 26, the driving control system of the motor is composed of five parts, namely a motion scheme, a sensor detection, a controller, a driver and a motor. The sensor adopts a common magnetic-sensitive or photoelectric sensor in the multi-degree-of-freedom motor, and the controller chip adopts a DSP processor, so that the functions of position detection signal acquisition, processing and motion control can be met. The motor is connected with the sensor, the sensor is connected with the controller, the controller is connected with the driver, and the driver is connected with the motor through the electromagnetic rotation driving circuit, the electromagnetic deflection driving circuit and the electromagnetic telescopic driving circuit. The motor can rotate, deflect and stretch up and down through different power-on strategies.
Those skilled in the art will recognize that many other embodiments may be practiced without these specific details.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes, modifications, equivalents, and improvements may be made thereto without departing from the spirit and scope of the invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (5)
1. The permanent magnet rotor driving type multi-degree-of-freedom motion motor is characterized by comprising a shell, a stator and a rotor; the rotor comprises a fixed shaft (8) at the lower part, a self-aligning ball bearing (7) is arranged at the upper end of the fixed shaft (8), the top of the fixed shaft (8) is fixedly connected with an inner ring of the self-aligning ball bearing (7), and the top of the fixed shaft (8) is connected with the bottom end of an output shaft (2) above through an oil film (16); the outer ring of the self-aligning ball bearing (7) is fixedly connected with the output shaft (2) through a connecting piece (7 d); the number of the connecting pieces (7 d) is four, the four connecting pieces (7 d) are uniformly arranged along the circumferential direction of the outer ring, a rotor frame is further fixed on the outer ring of the self-aligning ball bearing (7), a plurality of permanent magnet yokes (5 a) are arranged around the rotor frame, rotor permanent magnets (5b) are arranged between the permanent magnet yokes (5 a), and the outline of a rotating part of the rotor is spherical;
the stator is positioned at the periphery of the rotating part of the rotor, the stator comprises a plurality of left semi-circular cylinders and corresponding right semi-circular cylinders, a plurality of stator coil yokes are distributed on the inner side of each stator coil yoke, coil windings are wound on the stator coil yokes, and the motor rotor can move in multiple degrees of freedom by introducing different power-on strategies to the stator coils;
the stator comprises a bipolar type passing line frame structure formed by mutually connecting a plurality of left semicircular cylinders and corresponding right semicircular cylinders; two ends of the left semi-circular cylinder and the right semi-circular cylinder are respectively connected at two poles of a bipolar warp frame structure in an intersecting manner, and the axes of the two poles of the bipolar warp frame structure are horizontal; each of the left semi-circular cylinders and the corresponding right semi-circular cylinders comprises a left middle semi-circular cylinder and a right middle semi-circular cylinder which are symmetrical, and the planes of the left middle semi-circular cylinder and the right middle semi-circular cylinder are vertical to the vertical direction; the middle layer coil is electrified to finish the autorotation movement, and the other layers of coils are electrified to finish the tilting movement of the rotor; the inner sides of two poles of the two-pole warp frame structure, namely the inner side of the intersection of the semicircular cylinders, are respectively provided with a stator special control coil yoke (15 a); the left semicircular cylinders and the right semicircular cylinders of the stator are of a symmetrical structure relative to a vertical plane of a dipolar axis.
2. The permanent magnet rotor-driven multiple degree of freedom motion motor according to claim 1, characterized in that: the stator comprises 3 left semicircular annular cylinders and 3 right semicircular annular cylinders; be 30 degrees contained angles between 3 left semicircle annular cylinders, be 30 degrees contained angles between 3 right semicircle annular cylinders.
3. The permanent magnet rotor-driven multiple degree of freedom motion motor according to claim 2, characterized in that: the inner sides of the left semicircular cylinder and the right semicircular cylinder are respectively distributed with 4 stator coil yokes (15), and 2 crossed parts are provided with 2 stator special control coil yokes (15 a); the rotor frame includes 8 permanent magnet yoke portion (5 a), is equipped with 8 rotor permanent magnet (5b) between 8 permanent magnet yoke portion (5 a), is eight utmost point cooperation structures.
4. The permanent magnet rotor-driven multiple degree of freedom motion motor according to claim 3, characterized in that: the stator is fixed on the lifting platform (19), the lifting platform (19) is connected with the telescopic mechanism, and the telescopic mechanism is fixedly connected with the shell; the motor can rotate, deflect and stretch up and down through different power-on strategies; the telescopic mechanism is a magnetic direct drive type lifting mechanism; the telescopic mechanism is provided with a buffer mechanism or a guide mechanism; the magnetic direct drive lifting mechanism comprises: the lifting platform (19) and the shell bottom end cover (6) are fixed through a compression spring (17), a permanent magnet (14) fixed at the bottom of the lifting platform (19) is arranged at the middle upper end of the compression spring (17), and an expansion coil yoke (18) and an electromagnetic expansion driving coil (11) thereof fixed on the shell bottom end cover (6) are arranged at the middle lower end of the compression spring (17); the electromagnetic telescopic driving coil (11) controls the telescopic permanent magnet (14) and the compression spring (17), and the lifting platform (19) can complete telescopic motion by utilizing the elasticity of the compression spring (17); the number of the electromagnetic driving lifting mechanisms is one or a plurality of electromagnetic driving lifting mechanisms.
5. The permanent magnet rotor-driven multiple degree of freedom motion motor according to any one of claims 1-4, wherein a sensor for detecting the position and rotation speed of the rotor is further provided in the rotor; the rotor permanent magnet (5b) is a radial magnetizing permanent magnet; the rotor permanent magnet (5b) is embedded in the rotor frame body.
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| CN201910098051.5A CN109802513B (en) | 2019-01-31 | 2019-01-31 | Permanent magnet rotor driving type multi-degree-of-freedom motion motor |
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| CN201910098051.5A CN109802513B (en) | 2019-01-31 | 2019-01-31 | Permanent magnet rotor driving type multi-degree-of-freedom motion motor |
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| CN111509887A (en) * | 2020-06-04 | 2020-08-07 | 成都奇门科技有限公司 | Universal motor |
| CN113300513B (en) * | 2021-04-23 | 2022-05-13 | 华中科技大学 | Multi freedom motor |
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