CN109873541A - Transvercal induction power drive deflects Three Degree Of Freedom motor - Google Patents

Abstract

The present invention provides transvercal induction power drive and deflects Three Degree Of Freedom motor, is related to multi-freedom electric motor technical field.Including transvercal induction force driving device, which includes: cylindrical annular deflection stator and deflection rotor；Cylindrical annular deflects stator in the periphery of deflection rotor, and the inner circumferential of cylindrical annular deflection stator is distributed with several radial stator yokes, winds stator driving coil in stator yoke；The peripheral distribution of deflection rotor has several radial rotor yokes, winds rotor driving coil on rotor yoke；Deflection rotor is mutually fixed with output shaft.Mainly solve the problems such as big, the static dynamical system performance of multi-freedom electric motor volume weight is poor in traditional sense.The present invention completes the yaw motion of certain angle by lateral sensing drive force, has the characteristics that structure is simple, small in size, principle is unique, the simple steady accurate, fast response time of control.

Description

Transvercal induction power drive deflects Three Degree Of Freedom motor

Technical field

The present invention relates to multiple degrees of freedom motor technology fields.

Background technique

Traditional motor can be only done single dof mobility, need mutual collocation or more electricity by transmission mechanism The movement of two freedom degrees and two freedom degrees or more just may be implemented by complicated mechanical connection for machine combination.This not only makes Motor volume, weight are big, and system performance is poor, it is difficult to safeguard, static and dynamic property is difficult to be ensured for a long time, with forever The appearance of magnetic material, the magneto theory being born therewith have epoch-making influence to the research of motor, and magneto has It is small in size, without lamination, motion principle is simple, energy index is high the features such as, can more easily be applied to multiple degrees of freedom Motion motor field.Nowadays how subject technology of the multiple degrees of freedom as a modern age new life is guaranteeing in certain freedom degree Movement is lower to be simplified its structural volume, improves efficiency as a great problem in the present age.

Summary of the invention

The problem to be solved in the present invention is to provide transvercal induction power drives to deflect Three Degree Of Freedom motor, mainly solves tradition meaning The problems such as big, the static dynamical system performance of multi-freedom electric motor volume weight is poor in justice.The present invention passes through lateral induction driving Power completes the yaw motion of certain angle, has that structure is simple, small in size, principle is unique, the simple steady accurate, response of control The features such as speed is fast.

In order to reach the goals above, the technical solution adopted by the present invention is that: transvercal induction power drive deflect Three Degree Of Freedom electricity Machine, which is characterized in that including transvercal induction force driving device, which includes: cylindrical annular deflection stator and deflection rotor；Circle Band of column shape deflects stator in the periphery of deflection rotor, several radial stator yokes are distributed in the inner circumferential of cylindrical annular deflection stator, Stator driving coil is wound in stator yoke；The peripheral distribution of deflection rotor has several radial rotor yokes, and winding turns on rotor yoke Sub- driving coil；Deflection rotor is mutually fixed with output shaft；It is produced after being powered by stator driving coil and rotor driving coil strategy Raw laterally driven power completes the yaw motion of output shaft.

Further, the transvercal induction power drive deflects Three Degree Of Freedom motor, it is characterised in that: including frame body, circle Band of column shape deflection stator is located at the periphery of deflection rotor, and mutually fixes with frame body；The center of output shaft and deflection rotor is fixed, ball The aperture of shell top, the free end of output shaft is in the top of deflection rotor；It deflects below rotor center and with opposite two in top The main shaft of umbrella-type support frame is mutually fixed；The periphery of two umbrella-type support framves is equipped with spherical shell, sliding between two umbrella-type support framves and spherical shell Dynamic cooperation, spherical shell are mutually fixed with frame body；In spherical shell the periphery at the middle part of main shaft be equipped with magneto, the external stator of magneto with Spherical shell is fixed, and the internal rotor of magneto is connect by deflectable self-aligning ball bearing with main shaft；Electricity is realized by magneto The rotation of machine.

Further, the transvercal induction power drive deflects Three Degree Of Freedom motor, it is characterised in that: further includes lower deflection Driving mechanism, the cylindrical annular deflection stator of lower deflection driven mechanism are simultaneously mutually fixed with frame body；The lower end of the main shaft and it is lower partially The center for turning driving mechanism deflection rotor is mutually fixed, the aperture of spherical shell lower part.

Preferably, the deflectable self-aligning ball bearing is self-regulated heart ball bearing.

Preferably, the deflectable self-aligning ball bearing is that three-layer type deflects self-aligning ball bearing, i.e., in self-regulated bulbus cordis axis Added with outermost loop section, outermost loop section is fixed with outer ring for outside on the basis of bearing structure, and outermost loop section is equipped with can be with screw Fixed slotted section, for bearing and component are fixed together, and outer ring portion height is all higher compared to outer ring and inner ring, The transient impact that bearing middle section can be mitigated influences；Interior annular distance nibbles slot equipped with tooth form, in order to the cooperation of tooth form main shaft.

Further, the main shaft with it is separated in the inner ring junction of deflectable self-aligning ball bearing, with inner ring It is connected as tooth form engagement.

Preferably, the umbrella-type support frame structure of the transvercal induction power drive deflection Three Degree Of Freedom motor includes that 4 uniformly distributed The umbrella shaped support bar fixed with main shaft, the free end of each support rod is equipped with universal advance ball, and two umbrella-type support framves are equal It supports and is slidably matched with the inner wall of spherical shell.

Further, position of output axle and speed sensor system are set on the output shaft.

It is provided by the invention to have the technical effect that present invention mainly solves multi-freedom electric motor volume weights in traditional sense Greatly, the problems such as static dynamical system performance is poor.The present invention makes axis complete the inclined of certain angle by lateral sensing drive force Transhipment is dynamic, has the characteristics that structure is simple, small in size, principle is unique, the simple steady accurate, fast response time of control.

There are volume weights that big, static dynamical system performance is poor, is difficult to safeguard, convert for multi-freedom electric motor in traditional sense The problems such as inefficient.The present invention is distinguished with existing multi-freedom electric motor principle, simple, the small in size, principle with structure It is unique, deflection power is big, the simple steady accurate, fast response time of control, the features such as loss is low, purposes is wide.

Detailed description of the invention

It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these Attached drawing obtains other attached drawings.

Fig. 1 is the three-dimensional structure diagram of one embodiment of the invention.

Fig. 2 is the cross-sectional view of Fig. 1.

Fig. 3 is the schematic perspective view that upper deflection rotor is connected with exporting axis in Fig. 2.

Fig. 4 is the schematic perspective view deflected on rotor around driving coil in Fig. 2.

Fig. 5 is the top view of internal umbrella-type support frame in Fig. 2.

Fig. 6 is the side view (main view) of internal umbrella-type support frame in Fig. 2.

Fig. 7 is a cross-sectional view of internal umbrella-type support frame in Fig. 2.

Fig. 8 is the spherical shell schematic perspective view in Fig. 2.

Fig. 9 is the permanent magnet motor structure schematic diagram of the responsible realization rotation disposed at the center Fig. 2.

Figure 10 is the magneto split-phase figure of Fig. 7.

Figure 11 is the schematic perspective view of mechanical structure bearing in Fig. 2.

Figure 12 is the fixed device schematic perspective view of sawtooth connector being connected in Fig. 2 with mechanical structure bearing centre.

Figure 13 is after Fig. 9 is connect with Figure 10 and plus the stereochemical structure with the bearing after rotation permanent-magnet motor phase fixed structure Schematic diagram.

Figure 14 is Figure 11 mechanical structure bearing rotation schematic illustration.

Figure 15 is Figure 11 mechanical structure bearing deflection principle schematic diagram.

Figure 16 is motor deflection principle schematic diagram in Fig. 2.

Figure 17 is the schematic perspective view that stator is deflected in Fig. 2.

Figure 18 is drive control functional block diagram of the invention.

The labelled meaning of institute in figure: 1-output shaft, 2-deflection stators, 3-deflection rotors, 3A-deflection rotor line Circle, 4-deflection stators, 4A-deflection stator coil, 5-structure-steel framings, 6-umbrella-type support framves, 6A-sliding support ball part, 7-spherical shells, 8-deflectable self-aligning ball bearings, mechanical structure bearing, 8A-outer ring portion, 8B-bearing attachment point, 8C- Annulus pulley, 8D-bearing side screw hole, 8E-bearing inner ring, 8F sawtooth connector, 9-(routine) magnetoes.

Note: successively arranging in numerical order clockwise centered on deflecting stator yoke center with certain, and 1,2,3,4,5,6, upper layer prefix adds A, Lower layer's prefix adds B.

Specific embodiment

Attached drawing is only used for being illustrated example, should not be understood as the limitation to this patent；In order to more preferably illustrate this implementation , certain components may exist and omit, zoom in or out in attached drawing, save present in attached drawing for the personnel of this profession Slightly, zooming in or out will be understood by.Below in conjunction with attached drawing, this patent is described in detail.

As the specific embodiment of the present invention, the technical solution adopted by the present invention is that: transvercal induction power drive is inclined Turn Three Degree Of Freedom motor, which is characterized in that including transvercal induction force driving device, which includes: cylindrical annular deflection stator 2 With deflection rotor 3；Cylindrical annular deflects stator 4 in the periphery of deflection rotor 3, and the inner circumferential of cylindrical annular deflection stator 4 is distributed with Several radial stator yokes wind stator driving coil in stator yoke；The peripheral distribution of deflection rotor 3 has several radial rotors Yoke winds rotor driving coil on rotor yoke；Deflection rotor 3 is fixed with 1 phase of output shaft；It is driven by stator driving coil and rotor The laterally driven power that moving winding strategy generates after being powered completes the yaw motion of output shaft 1.

As the specific embodiment of the present invention, further, the transvercal induction power drive deflection three is freely Spend motor, it is characterised in that: including frame body 5, cylindrical annular deflection stator 4 be located at deflection rotor 3 periphery, and with 5 phase of frame body It is fixed；Output shaft 1 and the center of deflection rotor 3 are fixed, and the free end of output shaft 1 is in the top of deflection rotor 3；Deflect rotor 3 Central lower is mutually fixed with the main shaft with the opposite two umbrella-type support framves in top, 7 top aperture of spherical shell；Two umbrella-type support framves Periphery be equipped with spherical shell 7, be slidably matched between two umbrella-type support framves and spherical shell 7, spherical shell 7 is fixed with 5 phase of frame body；It is main in spherical shell 7 The periphery at the middle part of axis is equipped with magneto 9, and the external stator and spherical shell 7 of magneto 9 are fixed, and the internal rotor of magneto 9 is logical Deflectable self-aligning ball bearing 8 is crossed to connect with main shaft；The rotation of motor is realized by magneto 9.

As the specific embodiment of the present invention, further, the transvercal induction power drive deflection three is freely Spend motor, it is characterised in that: further include lower deflection driven mechanism, the cylindrical annular deflection stator of lower deflection driven mechanism and with frame 5 phase of body is fixed；The lower end of the main shaft and the center of lower deflection driven mechanism deflection rotor are mutually fixed, 7 lower part aperture of spherical shell.

As the specific embodiment of the present invention, it is preferred that the deflectable self-aligning ball bearing 8 is self-regulated bulbus cordis Bearing.

As the specific embodiment of the present invention, it is preferred that the deflectable self-aligning ball bearing 8 is that three-layer type is inclined Modulation core type ball bearing, i.e., on the basis of Self-aligning ball bearing structure outside added with outermost loop section 8A, outermost loop section 8A It being fixed with outer ring, outermost loop section 8A is equipped with slotted section that can be fixed with screw, for bearing and component are fixed together, And outer ring portion 8A height is all higher compared to outer ring and inner ring, the transient impact that can mitigate bearing middle section influences；Exist The periphery of self-centering type ball bearing adds one layer of shock resistance ring, and deflection structure principle is identical as self-regulated heart ball bearing；But control is inclined The roller ball form of transfer part point can be different；Interior annular distance nibbles slot equipped with tooth form, in order to the cooperation of tooth form main shaft.

As the specific embodiment of the present invention, further, the main shaft with deflectable self-aligning ball bearing 8 Inner ring junction in it is separated, with the connection of inner ring be tooth form engage.

As the specific embodiment of the present invention, it is preferred that the transvercal induction power drive deflection Three Degree Of Freedom electricity The umbrella-type support frame structure of machine includes that 4 uniformly distributed umbrella shaped support bars fixed with main shaft, the free end of each support rod is equipped with Universal advance ball, two umbrella-type support framves are supported and are slidably matched with the inner wall of spherical shell 7.

As the specific embodiment of the present invention, it is illustrated further below.

Rotation part is distributed in inside the spherical shell 7 of motor, and rotation part is entirely through mechanical structure bearing 8 and umbrella-type support Frame 6 is fixed on inside spherical shell 7, and 8 upper and lower side of mechanical structure bearing is fixedly connected with umbrella-type support frame 6, about 6 umbrella-type support frame Both ends link together with the deflection rotor 3 of the intersection construction of several rectangle racks, and 3 center of deflection rotor above motor is drawn Output shaft 1 out deflects the deflection stator 4 that cylinder ring shape is dispersed on the outside of rotor 3, and being dispersed with several on deflection stator 4 can For winding the deflection stator yoke of driving coil, 5 bottom end of electric machine structure frame and motor base link together, and constitute entire motor mould Type, wherein deflection module is to deflect stator 4 by upper and lower two parts and deflect the lateral driving force of rotor 3 that motor is driven to be completed Banking motion to a certain degree does not need transmission mechanism to realize, upper end deflection 3 center of rotor is equipped with 1 place of docking of output shaft The sensing system of detectable motor position and speed.Deflection stator 4 and deflection rotor 3 be respectively adopted six coils, four coils around Group combination, this is the selection comprehensively considered after motor performance and bulk factor, and excessively then volume is excessive for coil, and coil is excessively few then to be driven Dynamic complexity.

Using the mechanical structure bearing: the impact force that the bearing can be born is larger, while toughness is stronger, compared to self-adjustable Bearing has better mechanical hardness and adjustable extent, and more reliable movement environment can be provided when movable support drives.

The magneto 9 of rotation part uses Fig. 8 split-phase of nine poles, what interior permanent magnets were alternateed using eight pieces of N, S Set of permanent magnets at, this is the selection comprehensively considered after economic factor cost factor, and the type motor is relatively conventional, production cost compared with Low, small volume can be very good the operating index for meeting motor and service requirement.The intermediate motor used of the present invention simultaneously The selection of Motor of complete standard can be had no as long as volume, performance indicator meet the requirements for the magneto of other pole structures.

It should be noted that coil when corresponding yaw motion has to carry out according to certain combination rule, such as right Corresponding part B5 also must be powered on when A1 is powered, and upper lower coil energization number must be identical, and each pair of coil number suffix phase Adding and should be for 6, if A1, B5 are powered, A2, B4 be powered, and A3, B3 are powered, and so on.

The principle that motor uses is to realize one by the transvercal induction driving force between deflection stator 4 and deflection rotor 3 Determine the yaw motion of degree, it is not necessary to borrow or complete dependent on transmission mechanism.

By ninety degrees between transverse direction and axial direction in transvercal induction driving force, i.e., mutually perpendicular to axial direction, induction is driven Power refers to that the reason of generating power is therefore the referred to as sensing drive force by interacting between two parts energization driving coil, can also To be called driving force of inducting.The Three Degree Of Freedom motor that there is now can be divided into single rotor, more rotor structures, for Three Degree Of Freedom motor Yaw motion, often rely on a near-spherical structure stator and give the driving force for crossing the centre of sphere of p-m rotor or inductiopn rotor one Motor is set to complete a degree of deflection, the general small volume of multi-freedom electric motor, therefore what most of multi-freedom electric motors used It is permanent magnet rotor structure, generally requires multi-layer stator structure when doing multifreedom motion using single rotor control motor to maintain electricity Machine movement, at this point for that will generate more harmonic waves and cogging torque for motor, influences motor performance.And use multi-layer rotor Due to needing multiple coil combination drives when structure, therefore electromagnetic interference can be introduced, to influence motor performance.The present invention utilizes upper The mutually opposing transvercal induction driving force in lower both ends pulls upper and lower ends rotor to do a degree of yaw motion, and the present invention is larger Most multi-freedom electric motors have better electromagnetic property and operational efficiency, do not need excessively complicated driver, simultaneously because Rotation part is individual magneto, therefore relatively simple motor speed can also be adjusted.

Its fundamental difference is that deflecting force of the invention without going through the center of circle, and can pass through and adjust deflection stator and rotor Highly, it is driven using any pair of perpendicular to axial force, to optimize the electromagnetic property of motor.

- Fig. 2 refering to fig. 1, the transvercal induction power drive deflect Three Degree Of Freedom motor mainly by deflector, rotation part, The composition such as connecting bracket part, wherein deflector is distributed in the two sides up and down of motor, and rotation part is distributed in the spherical shell of motor Inside, rotation part is fixed on inside spherical shell entirely through mechanical structure bearing and umbrella-type support frame, above and below mechanical structure bearing End is fixedly connected with umbrella-type support frame, and umbrella-type support frame upper and lower ends are connected to one with the deflection rotor of cross structure It rises, the deflection rotor center above motor draws output shaft, the deflection stator of cylinder ring shape is dispersed on the outside of deflection rotor, partially Turn to be dispersed with several on stator for the deflection stator yoke for winding driving coil, electric machine structure frame bottom end is connected with motor base Together, entire motor model is constituted, wherein deflection module is that stator and deflection rotor transverse direction are deflected by upper and lower two parts The banking motion to a certain degree that driving force drives motor to be completed does not need transmission mechanism to realize, upper end deflects rotor center The sensing system of detectable motor position and speed is equipped with the output shaft place of docking.

Refering to Fig. 3, the transvercal induction power drive deflection Three Degree Of Freedom motor output point is mainly undertaken by output shaft, defeated Shaft is fixed at the intersection construction center of several rectangle racks, and output shaft is additionally provided with detectable with the deflection rotor rack center place of docking The sensor of motor movement speed and movement position.

Refering to Fig. 4, the deflection rotor portion of the transvercal induction power drive deflection Three Degree Of Freedom motor mainly uses quadrupole Structure forms a crux, is surrounded with driving coil on each frame yoke, amounts to four driving coils, drive in selection Excessive coil combination should not be selected during moving winding, excessive coil combination is selected then to deflect the deflection stator outside rotor rack Number of poles be also required to increase therewith, not only increase motor cost in this way, while the offline of motor can also become complicated, thereupon Driving can also become difficult to control.Select very little coil combination then the driving force of motor can be made too small, when leading to motor rotation Deflection angle it is too small or can not deflect.

Refering to Fig. 5-Fig. 7, the umbrella-type support frame of the transvercal induction power drive deflection Three Degree Of Freedom motor uses umbrella knot Structure, handle of umbrella and umbrella circumferential direction bracket are mutually 30 degree of angles, this angle is selected according to spherical housing, when selected angle crosses conference Lead to structural instability, there is the hidden danger to fracture in yaw motion.The too small clock synchronization of selected angle is larger to delivery outlet pressure, easily leads Cause delivery outlet damage.30 degree of angles are selected to can be very good to agree with motor movement.Circumferential frame bottom is equipped with for universal cunning Dynamic ball, is mutually equal angle between two adjacent stents by totally four, circumferential bracket, so as to divide equally the pressure being subject to It is excessive or too small lead to structural failure not will lead to some support force for power.The effect of handle of umbrella is for the bearing phase with center Connection, the effect of umbrella circumferential direction bracket is that a suitable deflection environment is provided for motor, and the effect of umbrella point is the deflection with motor Rotor portion connection, plays the role of transmission.4+1 combined frame structure is used in applying example to be considered based on sliding stability, is adopted Combined bay number is excessive, then higher cost, rubs larger, and angle can also be influenced to a certain degree when deflection.Using combination Frame number is excessively few then to make structural instability, be also easy to produce deviation and be not easy to restore.

Refering to Fig. 8, the casing part of the transvercal induction power drive deflection Three Degree Of Freedom motor is mainly by a hollow sphere It forms, punching facilitates lead on ball, and middle section hollow out facilitates heat dissipation, and sphere upper and lower ends opening can preferably agree with electricity The yaw motion of arbor can provide the deflection space of certain angle to the output shaft of motor.

Refering to Fig. 9, the magneto of transvercal induction power drive deflection Three Degree Of Freedom motor middle section is originally applying example In using nine pole permanent magnet motors, which is substantially made of stator, rotor, driving winding coil three parts, the motor compared with For routine, winding uses layer distributed, and permanent magnetism is arranged by the alternate mode of N, S on center rotor, amounts to four groups, i.e. eight blocks of permanent magnetism Body surface is attached to around rotor rack.

Refering to fig. 10, it is permanent magnet motor split-phase figure described in Fig. 7, winding is arranged on stator according to certain rules.

Deflectable 8 structure of self-aligning ball bearing described in 1- Figure 15 is self-centering type bearing, structure are as follows: three-layered node refering to fig. 1 Structure, outermost loop section 8A are equipped with slotted section that can be fixed with screw, can be used to for bearing and component being fixed together, outer portion Divide 8A height higher compared to other layer of loop section, the transient impact that can mitigate bearing middle section influences, to a certain extent Also function to shock proof effect；Second layer ring is pulley ring, and predominantly motor provides an environment that can be deflected；Innermost layer is Tooth form nibbles slot, and predominantly motor offer one can be with the environment of rotation, and structural principle is similar with self-centering type ball bearing, only One layer of shock resistance ring is added in the periphery of self-centering type ball bearing, while the bead shape for controlling deflector is different, His relevant portion structural principle is identical.The rotor portion of center magneto and the part outer ring 8A of bearing connect, when center When magneto carries out rotation, band dynamic bearing is done rotation movement, while bearing centre 8E agrees with sawtooth connector with one and connect Together, since sawtooth is bonded to each other, it will drive sawtooth connector and do rotation movement together, sawtooth connector and umbrella-type support frame It is connected, movement at this time can be transferred on output shaft by means of umbrella-type support frame in deflection rotor, so that motor be made to carry out rotation Movement.Similarly, rotor will similarly be deflected when deflecting and interacting between stator and deflection rotor will be transported by umbrella-type support frame It is dynamic to be transferred in bearing, and relative motion is carried out by its annulus pulley, to complete the yaw motion of certain angle.Refering to figure 16, the mechanical structure bearing centre of the transvercal induction power drive deflection Three Degree Of Freedom motor center remains unchanged, and carries out certain When deflection angle is run, umbrella-type support frame carries out a degree of sliding, a whole set of yaw tilt can be completed by bearing Movement, general effect are as shown in figure 14.

Refering to fig. 17, the deflection stator of the transvercal induction power drive deflection Three Degree Of Freedom motor uses sextupole in applying example Structure, have a two o'clock using the reason of sextupole structure, be to adopt to agree with the structure of internal quadrupole deflection rotor and consider at first point The structure similar in close winding can effectively reduce the loss of energy and the generation of harmonic wave.Second point is comprehensive motor performance Consider, winding can excessively make it is offline become complicated because coil excessively can also make the increased costs of driver become can with control, Originally it applies and uses upper layer and lower layer distribution more appropriate in example, then motor can be made longitudinally elongated according to Multi-layers distributing, expanded motor Volume and control difficulty can meet movement needs using bilayer distribution well, therefore need not add the number of plies again and increase cost.

Refering to fig. 18, the driving control system of motor is by motion scheme, sensor detection, controller, driver, motor five Part forms.Sensor uses dsp processor using magnetosensitive common in multi-freedom electric motor or photoelectric sensor, control chip , can satisfy the functions such as position detection signal acquisition, processing and motion control.Motor is connected with sensor detection, senses Device detection and control device is connected, and controller is connected with driver, and driver passes through the control to magneto and deflector Motor can be made to realize rotation, yaw motion.

Not addressing part those skilled in the art above can be implemented.

Above-mentioned example of applying is exemplary, and is not considered as limiting the invention, although with reference to the foregoing embodiments to this hair It is bright to be described in detail, for those skilled in the art, can still it not depart from the principle of the present invention and ancestor Above scheme can be changed, be modified within the scope of the invention in the case where purport, or to part of technical characteristic It is equivalently replaced, improves.Any modifications, equivalent replacements, and improvements etc. made all within the spirits and principles of the present invention, It is all included in the scope of protection of the present invention.

Claims (9)

1. transvercal induction power drive deflects Three Degree Of Freedom motor, which is characterized in that including transvercal induction force driving device, the device It include: cylindrical annular deflection stator (2) and deflection rotor (3)；Cylindrical annular deflect stator (4) deflection rotor (3) periphery, Several radial stator yokes are distributed in the inner circumferential of cylindrical annular deflection stator (4), wind stator driving coil in stator yoke；Deflection The peripheral distribution of rotor (3) has several radial rotor yokes, winds rotor driving coil on rotor yoke；Deflect rotor (3) with it is defeated Shaft (1) is mutually fixed；The laterally driven power generated after being powered by stator driving coil and rotor driving coil strategy is completed defeated The yaw motion of shaft (1).

2. transvercal induction power drive according to claim 1 deflects Three Degree Of Freedom motor, it is characterised in that: radial stator yoke It is 4 with radial rotor yoke.

3. transvercal induction power drive according to claim 1 deflects Three Degree Of Freedom motor, it is characterised in that: including frame body (5), cylindrical annular deflection stator (4) is located at the periphery of deflection rotor (3), and mutually fixes with frame body (5)；Output shaft (1) and partially The walk around center of sub (3) is fixed, and the free end of output shaft (1) is in the top of deflection rotor (3)；Deflect rotor (3) central lower It is mutually fixed with the main shaft with the opposite two umbrella-type support framves in top, spherical shell (7) top aperture；The periphery of two umbrella-type support framves It equipped with spherical shell (7), is slidably matched between two umbrella-type support framves and spherical shell (7), spherical shell (7) is mutually fixed with frame body (5)；Spherical shell (7) The periphery at the middle part of middle main shaft is equipped with magneto (9), and the external stator of magneto (9) and spherical shell (7) are fixed, magneto (9) internal rotor is connect by deflectable self-aligning ball bearing (8) with main shaft；The rotation of motor is realized by magneto (9).

4. transvercal induction power drive according to claim 3 deflects Three Degree Of Freedom motor, it is characterised in that: further include lower inclined Turn driving mechanism, the cylindrical annular deflection stator of lower deflection driven mechanism is simultaneously mutually fixed with frame body (5)；The lower end of the main shaft with The center of lower deflection driven mechanism deflection rotor is mutually fixed, spherical shell (7) lower part aperture.

5. transvercal induction power drive according to claim 3 or 4 deflects Three Degree Of Freedom motor, it is characterised in that: it is described can Deflecting self-aligning ball bearing (8) is self-regulated heart ball bearing.

6. transvercal induction power drive according to claim 3 or 4 deflects Three Degree Of Freedom motor, it is characterised in that: it is described can Deflecting self-aligning ball bearing (8) is that three-layer type deflects self-aligning ball bearing, i.e. outside on the basis of Self-aligning ball bearing structure Added with outermost loop section (8A), outermost loop section (8A) is fixed with outer ring, and outermost loop section (8A) is equipped with can be with screw fixation Slotted section, for bearing and component are fixed together, and outer ring portion (8A) is highly all higher compared to outer ring and inner ring, can It is influenced with mitigating the transient impact of bearing middle section；Interior annular distance nibbles slot equipped with tooth form, in order to the cooperation of tooth form main shaft.

7. transvercal induction power drive according to claim 3 or 4 deflects Three Degree Of Freedom motor, it is characterised in that: the master Axis with it is separated in the inner ring junction of deflectable self-aligning ball bearing (8), with the connection of inner ring be tooth form engage.

8. transvercal induction power drive according to claim 3 or 4 deflects Three Degree Of Freedom motor, it is characterised in that: the cross Umbrella-type support frame structure to induction power drive deflection Three Degree Of Freedom motor includes 4 uniformly distributed umbrella branch fixed with main shaft Strut, the free end of each support rod are equipped with universal advance ball, and two umbrella-type support framves support simultaneously with the inner wall of spherical shell (7) It is slidably matched.

9. transvercal induction power drive according to claim 1,2,3 or 4 deflects Three Degree Of Freedom motor, it is characterised in that: institute It states and sets position of output axle and speed sensor system on output shaft (1).