CN109873541B - Transverse induction force driving deflection three-freedom-degree motor - Google Patents
Transverse induction force driving deflection three-freedom-degree motor Download PDFInfo
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- CN109873541B CN109873541B CN201910213138.2A CN201910213138A CN109873541B CN 109873541 B CN109873541 B CN 109873541B CN 201910213138 A CN201910213138 A CN 201910213138A CN 109873541 B CN109873541 B CN 109873541B
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Abstract
The invention provides a transverse induction force driving deflection three-freedom-degree motor, and relates to the technical field of multiple-freedom-degree motors. The deflection rotor comprises a cylindrical annular deflection stator and a deflection rotor; the cylindrical annular deflection stator is arranged on the periphery of the deflection rotor, and a plurality of radial stator yokes are distributed on the inner periphery of the cylindrical annular deflection stator; a plurality of radial rotor yokes are distributed on the periphery of the deflection rotor; the deflection rotor is fixed with the output shaft. The lower part of the center of the deflection rotor is fixed with a main shaft with two umbrella-shaped support frames opposite to the top; spherical shells are arranged at the peripheries of the two umbrella-shaped supporting frames; the periphery of the middle part of the main shaft in the spherical shell is provided with a permanent magnet motor. The problems that a multi-degree-of-freedom motor is large in size and weight, poor in static and dynamic system performance and the like in the traditional sense are mainly solved. The invention completes deflection motion at a certain angle by transverse induction driving force, and has the characteristics of simple structure, small volume, unique principle, simple, stable and accurate control, high response speed and the like.
Description
Technical Field
The invention relates to the technical field of motors with multiple degrees of freedom.
Background
The traditional motor can only complete the motion with single degree of freedom, and the motion with two degrees of freedom and more than two degrees of freedom can be realized only by means of mutual matching of transmission mechanisms or more motor combinations through complicated mechanical connection. The permanent magnet motor has the characteristics of small volume, no need of a laminated structure, simple motion principle, high force performance index and the like, and can be more conveniently applied to the field of multi-degree-of-freedom motion motors. At present, the multiple degrees of freedom are taken as a new recent disciplinary technology, and how to simplify the structure volume and improve the efficiency under the condition of ensuring certain degree of freedom motion is a current difficult problem.
Disclosure of Invention
The invention aims to solve the problems of providing a transverse induction force driven deflection three-freedom-degree motor and mainly solving the problems of large volume and weight, poor static and dynamic system performance and the like of the multi-freedom-degree motor in the traditional sense. The invention completes deflection motion at a certain angle by transverse induction driving force, and has the characteristics of simple structure, small volume, unique principle, simple, stable and accurate control, high response speed and the like.
In order to achieve the above purposes, the invention adopts the technical scheme that: the transverse stress-sensing driving deflection three-freedom-degree motor is characterized by comprising a transverse stress-sensing driving device, wherein the device comprises: a cylindrical annular deflection stator and a deflection rotor; the cylindrical annular deflection stator is arranged on the periphery of the deflection rotor, a plurality of radial stator yokes are distributed on the inner periphery of the cylindrical annular deflection stator, and stator driving coils are wound on the stator yokes; a plurality of radial rotor yokes are distributed on the periphery of the deflection rotor, and rotor driving coils are wound on the rotor yokes; the deflection rotor is fixed with the output shaft; the deflection motion of the output shaft is completed by the transverse driving force generated after the stator driving coil and the rotor driving coil are electrified.
Furthermore, the lateral stress-sensing driving deflection three-degree-of-freedom motor is characterized in that: the cylindrical annular deflection stator is arranged on the periphery of the deflection rotor and is fixed with the frame body; the output shaft is fixed with the center of the deflection rotor, the upper part of the spherical shell is provided with a hole, and the free end of the output shaft is arranged above the deflection rotor; the lower part of the center of the deflection rotor is fixed with a main shaft with two umbrella-shaped support frames opposite to the top; the peripheries of the two umbrella-shaped support frames are provided with spherical shells, the two umbrella-shaped support frames are in sliding fit with the spherical shells, and the spherical shells are fixed with the frame body; a permanent magnet motor is arranged on the periphery of the middle part of the main shaft in the spherical shell, an outer stator of the permanent magnet motor is fixed with the spherical shell, and an inner rotor of the permanent magnet motor is connected with the main shaft through a deflectable aligning ball bearing; the rotation of the motor is realized through the permanent magnet motor.
Furthermore, the lateral stress-sensing driving deflection three-degree-of-freedom motor is characterized in that: the lower deflection driving mechanism is characterized by further comprising a cylindrical annular deflection stator and is fixed with the frame body; the lower end of the main shaft is fixed with the center of a deflection rotor of the lower deflection driving mechanism, and the lower part of the spherical shell is provided with a hole.
Preferably, the deflectable self-aligning ball bearing is a self-aligning ball bearing.
Preferably, the deflectable aligning ball bearing is a three-layer deflectable aligning ball bearing, namely, an outermost ring part is arranged outside the self-aligning ball bearing structure and is fixed with the outer ring, the outermost ring part is provided with a slotted part which can be fixed with a screw and is used for fixing the bearing and the component together, and the height of the outermost ring part is higher than that of the outer ring and the inner ring, so that the transient impact influence of the middle part of the bearing can be reduced; the bearing inner ring or the bearing inner ring is internally provided with a tooth-shaped meshing groove so as to be convenient for matching the tooth-shaped main shaft.
Furthermore, the main shaft is disconnected in the middle of the connection position of the main shaft and the inner ring of the deflectable and center-adjustable ball bearing, and the main shaft and the inner ring are in tooth-shaped meshing.
Preferably, the umbrella-shaped support frame structure of the transverse stress-sensing force-driven deflection three-degree-of-freedom motor comprises 4 umbrella-shaped support rods which are uniformly distributed and fixed with the main shaft, a universal sliding ball is arranged at the free end of each support rod, and the two umbrella-shaped support frames are both supported and in sliding fit with the inner wall of the spherical shell.
Further, an output shaft position and speed sensor system is arranged on the output shaft.
The invention provides the technical effects that: the invention mainly solves the problems of large volume and weight, poor static and dynamic system performance and the like of a multi-degree-of-freedom motor in the traditional sense. The invention leads the shaft to complete deflection motion of a certain angle through the transverse induction driving force, and has the characteristics of simple structure, small volume, unique principle, simple, stable and accurate control, high response speed and the like.
In the traditional sense, the multi-degree-of-freedom motor has the problems of large volume and weight, poor static and dynamic system performance, difficult maintenance, poor conversion efficiency and the like. The invention is distinguished from the existing multi-degree-of-freedom motor principle, and has the characteristics of simple structure, small volume, unique principle, large deflection power, simple, stable and accurate control, high response speed, low loss, wide application 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 perspective view of one embodiment of the present invention.
Fig. 2 is a cross-sectional view of fig. 1.
Fig. 3 is a perspective view of the upper deflection rotor and the output shaft of fig. 2.
Fig. 4 is a schematic perspective view of the driving coil wound around the deflection rotor in fig. 2.
FIG. 5 is a top view of the inner umbrella support of FIG. 2.
FIG. 6 is a side view (front view) of the inner umbrella support of FIG. 2.
FIG. 7 is a cross-sectional view of the inner umbrella support of FIG. 2.
Fig. 8 is a schematic perspective view of the spherical shell in fig. 2.
Fig. 9 is a schematic structural diagram of a permanent magnet motor arranged at the center of fig. 2 and responsible for realizing rotation.
Fig. 10 is a phase-split view of the permanent magnet machine of fig. 7.
Fig. 11 is a schematic perspective view of the mechanical bearing of fig. 2.
Fig. 12 is a perspective view of the saw tooth connector fixing device of fig. 2 connected to the center of the bearing of the mechanical structure.
Fig. 13 is a schematic perspective view of the bearing connected to fig. 9 and 10 and having a structure fixed to the rotating permanent magnet motor.
Fig. 14 is a schematic view of the bearing rotation principle of the mechanical structure of fig. 11.
Fig. 15 is a schematic view of the bearing deflection principle of the mechanical structure of fig. 11.
Fig. 16 is a schematic view of the deflection principle of the motor in fig. 2.
Fig. 17 is a schematic perspective view of the deflecting stator of fig. 2.
Fig. 18 is a schematic block diagram of the drive control of the present invention.
Meaning of all reference numerals in the figures: 1-output shaft, 2-deflection stator, 3-deflection rotor, 3A-deflection rotor coil, 4-deflection stator, 4A-deflection stator coil, 5-structural frame, 6-umbrella-shaped support frame, 6A-sliding support ball part, 7-spherical shell, 8-deflectable aligning ball bearing, mechanical structure bearing, 8A-outermost ring part, 8B-bearing connecting part, 8C-ring pulley, 8D-bearing side screw hole, 8E-bearing inner ring, 8F sawtooth connecting piece, and 9- (conventional) permanent magnet motor.
Note: taking the center of a certain deflection stator yoke as the center, sequentially numbering 1, 2, 3, 4, 5 and 6 clockwise, adding A to the prefix of the upper layer and adding B to the prefix of the lower layer.
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 a specific embodiment of the invention, the technical scheme adopted by the invention is as follows: the transverse stress-sensing driving deflection three-freedom-degree motor is characterized by comprising a transverse stress-sensing driving device, wherein the device comprises: a cylindrical annular deflection stator 2 and a deflection rotor 3; the cylindrical annular deflection stator 4 is arranged on the periphery of the deflection rotor 3, a plurality of radial stator yokes are distributed on the inner periphery of the cylindrical annular deflection stator 4, and stator driving coils are wound on the stator yokes; a plurality of radial rotor yokes are distributed on the periphery of the deflection rotor 3, and rotor driving coils are wound on the rotor yokes; the deflection rotor 3 is fixed with the output shaft 1; the deflection motion of the output shaft 1 is completed by the transverse driving force generated after the stator driving coil and the rotor driving coil are electrified.
As an embodiment of the present invention, further, the lateral force-sensing force-driving deflection three-degree-of-freedom motor is characterized in that: comprises a frame body 5, a cylindrical annular deflection stator 4 is arranged at the periphery of a deflection rotor 3 and is fixed with the frame body 5; the output shaft 1 is fixed with the center of the deflection rotor 3, and the free end of the output shaft 1 is arranged above the deflection rotor 3; the lower part of the center of the deflection rotor 3 is fixed with a main shaft with two umbrella-shaped support frames opposite to the top, and the upper part of the spherical shell 7 is provided with a hole; the peripheries of the two umbrella-shaped support frames are provided with spherical shells 7, the two umbrella-shaped support frames are in sliding fit with the spherical shells 7, and the spherical shells 7 are fixed with the frame body 5; a permanent magnet motor 9 is arranged on the periphery of the middle part of a main shaft in the spherical shell 7, an outer stator of the permanent magnet motor 9 is fixed with the spherical shell 7, and an inner rotor of the permanent magnet motor 9 is connected with the main shaft through a deflectable aligning ball bearing 8; the rotation of the motor is realized through the permanent magnet motor 9.
As an embodiment of the present invention, further, the lateral force-sensing force-driving deflection three-degree-of-freedom motor is characterized in that: the lower deflection driving mechanism is also included, and a cylindrical annular deflection stator of the lower deflection driving mechanism is fixed with the frame body 5; the lower end of the main shaft is fixed with the center of a deflection rotor of the lower deflection driving mechanism, and the lower part of the spherical shell 7 is provided with a hole.
As an embodiment of the present invention, preferably, the deflectable and center-adjustable ball bearing 8 is a self-aligning ball bearing.
As a specific embodiment of the present invention, preferably, the deflectable and center-adjustable ball bearing 8 is a three-layer type deflectable and center-adjustable ball bearing, that is, an outermost ring part 8A is added on the outer surface of the self-aligning ball bearing structure, the outermost ring part 8A is fixed with the outer ring, the outermost ring part 8A is provided with a slotted part which can be fixed with a screw, and is used for fixing the bearing and the component together, and the outer ring part 8A is higher than the outer ring and the inner ring, so that the transient impact influence of the middle part of the bearing can be reduced; namely, a layer of anti-impact ring is added on the periphery of the self-aligning ball bearing, and the principle of a deflection structure is the same as that of the self-aligning ball bearing; the ball form of the deflection-controlling portion may be different; a tooth-shaped meshing groove is formed in the bearing inner ring 8E or the bearing inner ring 8E so as to facilitate the matching of a tooth-shaped main shaft.
As an embodiment of the invention, the main shaft is disconnected in the middle of the connection with the inner ring of the deflectably aligning ball bearing 8, and the connection with the inner ring is in tooth-shaped engagement.
As an embodiment of the present invention, preferably, the umbrella-shaped support frame structure of the lateral stress-sensing force-driven deflection three-degree-of-freedom motor includes 4 umbrella-shaped support rods uniformly distributed and fixed with the main shaft, a universal sliding ball is disposed at a free end of each support rod, and both the two umbrella-shaped support frames are supported and slidably fitted with an inner wall of the spherical shell 7.
The present invention will be further described below as an embodiment thereof.
The rotation part is distributed in the spherical shell 7 of the motor, the rotation part is wholly fixed in the spherical shell 7 through a mechanical structure bearing 8 and an umbrella-shaped support frame 6, the upper end and the lower end of the mechanical structure bearing 8 are fixedly connected with the umbrella-shaped support frame 6, the upper end and the lower end of the umbrella-shaped support frame 6 are both connected with a plurality of deflection rotors 3 with a rectangular frame cross structure, an output shaft 1 is led out from the center of the deflection rotor 3 above the motor, a cylindrical ring-shaped deflection stator 4 is distributed on the outer side of the deflection rotor 3, a plurality of deflection stator yokes for winding a driving coil are distributed on the deflection stator 4, the bottom end of a motor structure frame 5 is connected with a motor base to form a whole motor model, wherein the deflection module is realized by driving the transverse driving force of the upper deflection stator 4 and the lower deflection rotor 3 to drive the motor to complete certain degree, and a sensor system capable of detecting the position and the speed of the motor is arranged at the joint of the center of the upper end deflection rotor 3 and the output shaft 1. The deflection stator 4 and the deflection rotor 3 are respectively combined by six-coil and four-coil windings, which are selected after the performance and volume factors of the motor are comprehensively considered, and the volume is too large when too many coils are used, and the driving is complex when too few coils are used.
Adopt this mechanical structure bearing: the bearing has the advantages of large bearable impact force, high toughness, better mechanical hardness and adjustable range compared with a self-adjusting bearing, and capability of providing a reliable motion environment when the movable support is driven.
The permanent magnet motor 9 of the rotation part adopts nine-pole split-phase as shown in the figure 8, the internal permanent magnet is formed by eight N, S mutually-alternated permanent magnets, the selection is made after economic factor cost factors are comprehensively considered, the motor is common, the production cost is low, the size is small, and the operation indexes and the operation requirements of the motor can be well met. Meanwhile, the motor adopted in the middle of the invention can also be a permanent magnet motor with other pole structures, and as long as the volume and performance indexes meet the requirements, no completely standard motor is selected.
It should be noted that the coils corresponding to the yawing motion must be combined according to a certain combination rule, for example, when a1 is energized, the corresponding part B5 must be energized, the number of energized upper and lower coils must be the same, and the sum of the suffixes of the numbers of each pair of coils should be 6, such as a1 and B5, a2 and B4, A3 and B3, and so on.
The motor adopts the principle that a certain degree of deflection motion is realized by transverse induction driving force between the deflection stator 4 and the deflection rotor 3, and the deflection motion is not needed to be realized by means of or depending on a transmission mechanism.
The difference between the transverse direction and the axial direction in the transverse direction induction driving force is ninety degrees, namely the transverse direction and the axial direction are perpendicular to the axial direction, and the induction driving force is referred to as induction driving force and also referred to as induction driving force because the force is generated due to the interaction between two parts of electrified driving coils. The existing three-degree-of-freedom motor can be divided into a single-rotor structure and a multi-rotor structure, for the deflection motion of the three-degree-of-freedom motor, a driving force which passes through a spherical center is usually given to a permanent magnet rotor or an induction rotor by a spherical structure stator to enable the motor to complete deflection to a certain degree, the multi-degree-of-freedom motor is generally small in size, so that most of the multi-degree-of-freedom motors adopt the permanent magnet rotor structure, when the single-rotor control motor is adopted to do the multi-degree-of-freedom motion, a multi-layer stator structure is usually needed to maintain the motor motion, at the moment. When the multi-layer rotor structure is adopted, because a plurality of coils are required to be driven in a mixed mode, electromagnetic interference is introduced, and therefore the performance of the motor is affected. The invention utilizes the transverse induction driving force of the upper end and the lower end which are mutually reverse to each other to pull the rotors at the upper end and the lower end to do deflection motion to a certain degree, the larger multiple-degree-of-freedom motor has better electromagnetic property and running efficiency, an excessively complex driver is not needed, and simultaneously, the rotating speed of the motor can be adjusted more simply because the self-rotating part is an independent permanent magnet motor.
The invention is fundamentally different in that the deflection force of the invention does not need to pass through the circle center, but can be driven by any pair of forces perpendicular to the axial direction by adjusting the heights of the deflection stator and the deflection rotor, thereby optimizing the electromagnetic property of the motor.
Referring to fig. 1-2, the transverse stress-sensing-driven deflection three-degree-of-freedom motor mainly comprises a deflection part, an autorotation part, a connecting support part and the like, wherein the deflection part is distributed on the upper side and the lower side of the motor, the autorotation part is distributed in a spherical shell of the motor, the autorotation part is integrally fixed in the spherical shell through a mechanical structure bearing and an umbrella-shaped support frame, the upper end and the lower end of the mechanical structure bearing are fixedly connected with the umbrella-shaped support frame, the upper end and the lower end of the umbrella-shaped support frame are connected with a deflection rotor of a cross structure, an output shaft is led out from the center of the deflection rotor above the motor, a cylindrical ring-shaped deflection stator is distributed on the outer side of the deflection rotor, a plurality of deflection stator yokes for winding driving coils are distributed on the deflection stator, the bottom end of the motor structure frame is connected with a motor base to form The movement is realized without a transmission mechanism, and a sensor system capable of detecting the position and the speed of the motor is arranged at the joint of the center of the upper deflection rotor and the output shaft.
Referring to fig. 3, the output part of the transverse stress-sensing-force-driving deflection three-degree-of-freedom motor is mainly borne by an output shaft, the output shaft is fixed at the center of the intersection structure of the rectangular frames, and a sensor capable of detecting the movement speed and the movement position of the motor is further arranged at the joint of the output shaft and the center of the deflection rotor frame.
Referring to fig. 4, the deflection rotor part of the transverse stress-induced driving deflection three-degree-of-freedom motor mainly adopts a four-pole structure, i.e., a cross is formed, each yoke is surrounded by a driving coil, and four driving coils are counted, so that excessive coil combinations are not suitable for selection in the process of selecting the driving coils, and the number of poles of the deflection stator outside the deflection rotor frame needs to be increased along with the selection of the excessive coil combinations, so that not only is the motor cost increased, but also the lower coil of the motor becomes complicated, and the driving becomes difficult to control along with the increase. If too few coil combinations are selected, the driving force of the motor is too small, so that the deflection angle of the motor during rotation is too small or the motor cannot deflect.
Referring to fig. 5-7, the umbrella-shaped support frame of the transverse stress-sensing driving deflection three-degree-of-freedom motor adopts an umbrella-shaped structure, an included angle of thirty degrees is formed between an umbrella handle and an umbrella circumferential support frame, the included angle is selected according to a spherical shell, and when the selected angle is too large, the structure is unstable, and the hidden danger of breaking is generated during deflection motion. When the selection angle is too small, the pressure on the output port is high, and the output port is easily damaged. The thirty-degree included angle can be well matched with the motor to move. The circumference support bottom is equipped with can supply universal gliding ball, and the circumference support is totally four, each other becomes equal contained angle between two adjacent supports to can equally divide the pressure that receives, can not lead to certain support atress too big or undersize to lead to structural damage. The umbrella handle is used for being connected with the central bearing, the umbrella circumferential support is used for providing a proper deflection environment for the motor, and the umbrella tip is used for being connected with a deflection rotor part of the motor to play a role in transmission. In the embodiment, the 4+1 combined frame structure is adopted based on the consideration of sliding stability, and if the number of the adopted combined frames is too large, the cost is high, the friction is large, and the angle during deflection is also influenced to a certain degree. If the number of the combined racks is too small, the structure is unstable, deviation is easy to generate, and recovery is difficult.
Referring to fig. 8, the housing part of the transverse stress-sensing driving deflection three-degree-of-freedom motor mainly comprises a hollow ball, the ball is punched to facilitate lead, the middle part of the ball is hollow to facilitate heat dissipation, the upper end and the lower end of the ball are open, the deflection motion of a motor shaft can be better matched, and a deflection space with a certain angle can be provided for an output shaft of the motor.
Referring to fig. 9, the permanent magnet motor in the middle of the transverse stress-induced-force-driven deflection three-degree-of-freedom motor in this embodiment is a nine-pole permanent magnet motor, which is generally composed of three parts, i.e., a stator, a rotor, and a driving winding coil, and the motor is conventional, wherein the windings are distributed in layers, and permanent magnets on the central rotor are arranged in an N, S alternating manner, so that four groups, i.e., eight permanent magnets are attached to the periphery of the rotor frame.
Referring to fig. 10, which is a phase-splitting diagram of the permanent magnet motor shown in fig. 7, the windings are arranged on the stator according to a certain rule.
The deflectable and aligning ball bearing 8 shown in fig. 11 to 15 is a self-aligning bearing, and has the following structure: the structure of the three layers is characterized in that the outermost ring part 8A is provided with a slotted part which can be fixed with a screw and can be used for fixing the bearing and the part together, and the height of the outer ring part 8A is higher than that of other ring parts, so that the transient impact influence of the middle part of the bearing can be reduced, and the shock resistance effect can be realized to a certain extent; the second layer of ring is a pulley ring and mainly provides a deflectable environment for the motor; the innermost layer is a tooth-shaped meshing groove, an environment capable of rotating is mainly provided for the motor, the structure principle of the self-aligning ball bearing is similar to that of a self-aligning ball bearing, only a layer of anti-impact ring is added on the periphery of the self-aligning ball bearing, meanwhile, the shapes of balls of the deflection control parts are different, and the structure principles of other related parts are the same. The rotor part of center permanent-magnet machine is connected with the outer loop 8A part of bearing, when the permanent-magnet machine of centre carries out the rotation, drive the bearing and do the rotation motion, bearing center 8E links together with a cooperation sawtooth connecting piece simultaneously, because the sawtooth laminates each other, can drive the sawtooth connecting piece and do the rotation motion together, the sawtooth connecting piece links to each other with umbrella-shaped support frame, the motion this moment can be transmitted to the output shaft in the rotor that deflects with the help of umbrella-shaped support frame to make the motor carry out the rotation motion. Similarly, when the deflection stator and the deflection rotor interact, the deflection rotor can transmit the motion to the bearing through the umbrella-shaped support frame and perform relative motion through the ring pulley, so that the deflection motion at a certain angle is completed. Referring to fig. 16, the center of the mechanical structure bearing at the center of the transverse stress-sensing force-driven deflection three-degree-of-freedom motor remains unchanged, when the motor operates at a certain deflection angle, the umbrella-shaped support frame slides to a certain extent, and a whole set of deflection tilting motion can be completed through the bearing, and the approximate effect is shown in fig. 14.
Referring to fig. 17, the deflection stator of the transverse stress-induced-force-driven three-degree-of-freedom deflection motor adopts a six-pole structure in the embodiment, and the six-pole structure is adopted for two reasons, and the first point is that the energy loss and the harmonic generation can be effectively reduced by adopting a structure with similar windings in order to fit the structural consideration of an internal four-pole deflection rotor. The second point is that the motor performance is considered in an integrated manner, and too much winding can lead to the coil becoming complicated, because too much coil can also lead the cost increase of the driver to become controllable, the upper and lower two-layer distribution adopted in the embodiment is more suitable, if the multilayer distribution is adopted, the motor can be longitudinally elongated, the size and the control difficulty of the motor are increased, the motion requirement can be well met by adopting the double-layer distribution, and therefore the cost is not increased by adding multiple layers.
Referring to fig. 18, the driving control system of the motor is composed of five parts, i.e., a motion scheme, a sensor, a controller, a driver, and a motor. The sensor adopts a magneto-sensitive or photoelectric sensor commonly used in the multi-degree-of-freedom motor, and the control chip only adopts a DSP processor, so that the functions of position detection signal acquisition, processing, motion control and the like 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 can control the permanent magnet motor and the deflection part to enable the motor to realize rotation and deflection motion.
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, and equivalents may be made 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 are included in the protection scope of the present invention.
Claims (8)
1. The transverse stress-sensing driving deflection three-freedom-degree motor is characterized by comprising a transverse stress-sensing driving device, wherein the device comprises: a cylindrical annular deflection stator (4) and a deflection rotor (3); the cylindrical annular deflection stator (4) is arranged on the periphery of the deflection rotor (3), a plurality of radial stator yokes are distributed on the inner periphery of the cylindrical annular deflection stator (4), and stator driving coils are wound on the stator yokes; a plurality of radial rotor yokes are distributed on the periphery of the deflection rotor (3), and rotor driving coils are wound on the rotor yokes; the deflection rotor (3) is fixed with the output shaft (1); the deflection motion of the output shaft (1) is completed through the transverse driving force generated after the strategy of electrifying the stator driving coil and the rotor driving coil;
the cylindrical annular deflection stator (4) is arranged on the periphery of the deflection rotor (3) and is fixed with the frame body (5); the output shaft (1) is fixed with the center of the deflection rotor (3), and the free end of the output shaft (1) is arranged above the deflection rotor (3); the lower part of the center of the deflection rotor (3) is fixed with a main shaft with two umbrella-shaped support frames opposite to the top, and the upper part of the spherical shell (7) is provided with a hole; the peripheries of the two umbrella-shaped supporting frames are provided with spherical shells (7), the two umbrella-shaped supporting frames are in sliding fit with the spherical shells (7), and the spherical shells (7) are fixed with the frame body (5); a permanent magnet motor (9) is arranged on the periphery of the middle part of a main shaft in the spherical shell (7), an outer stator of the permanent magnet motor (9) is fixed with the spherical shell (7), and an inner rotor of the permanent magnet motor (9) is connected with the main shaft through a deflectable aligning ball bearing (8); the rotation of the motor is realized through the permanent magnet motor (9).
2. The motor of claim 1, wherein: the number of the radial stator yoke and the number of the radial rotor yoke are 4.
3. The motor of claim 1, wherein: the lower deflection driving mechanism is also included, and a cylindrical annular deflection stator of the lower deflection driving mechanism is fixed with the frame body (5); the lower end of the main shaft is fixed with the center of a deflection rotor of the lower deflection driving mechanism, and the lower part of the spherical shell (7) is provided with a hole.
4. The motor with three degrees of freedom for lateral force-sensing driving deflection according to claim 1 or 3, wherein: the deflectable aligning ball bearing (8) is a self-aligning ball bearing.
5. The motor with three degrees of freedom for lateral force-sensing driving deflection according to claim 1 or 3, wherein: the deflectable and adjustable ball bearing (8) is a three-layer type deflectable and adjustable ball bearing, namely, an outermost ring part (8A) is additionally arranged on the outer side of the self-adjustable ball bearing structure, the outermost ring part (8A) is fixed with an outer ring, the outermost ring part (8A) is provided with a slotted part which can be fixed with a screw and used for fixing the bearing and the part together, and the height of the outermost ring part (8A) is higher than that of the outer ring and the inner ring, so that the transient impact influence of the middle part of the bearing can be reduced; a tooth-shaped meshing groove is arranged in the bearing inner ring (8E) or the bearing inner ring (8E) so as to facilitate the matching of a tooth-shaped main shaft.
6. The motor with three degrees of freedom for lateral force-sensing driving deflection according to claim 1 or 3, wherein: the main shaft is disconnected in the middle of the connection part of the main shaft and the inner ring of the deflectable aligning ball bearing (8), and the main shaft is in tooth-shaped meshing with the inner ring.
7. The motor with three degrees of freedom for lateral force-sensing driving deflection according to claim 1 or 3, wherein: the umbrella-shaped support frame structure of the transverse stress-sensing force-driven deflection three-degree-of-freedom motor comprises 4 umbrella-shaped support rods which are uniformly distributed and fixed with a main shaft, a universal sliding ball is arranged at the free end of each support rod, and the two umbrella-shaped support frames are supported and in sliding fit with the inner wall of a spherical shell (7).
8. A lateral force sensing force driving deflection three degree of freedom motor according to claim 1, 2 or 3, wherein: and an output shaft position and speed sensor system is arranged on the output shaft (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910213138.2A CN109873541B (en) | 2019-03-20 | 2019-03-20 | Transverse induction force driving deflection three-freedom-degree motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910213138.2A CN109873541B (en) | 2019-03-20 | 2019-03-20 | Transverse induction force driving deflection three-freedom-degree motor |
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| CN109873541A CN109873541A (en) | 2019-06-11 |
| CN109873541B true CN109873541B (en) | 2020-10-23 |
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| CN201910213138.2A Active CN109873541B (en) | 2019-03-20 | 2019-03-20 | Transverse induction force driving deflection three-freedom-degree motor |
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| CN102075042A (en) * | 2011-02-28 | 2011-05-25 | 北京航空航天大学 | Ball type motor with three-dimensional topology magnetic pole distribution structure |
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| CN103780041A (en) * | 2013-10-08 | 2014-05-07 | 何国华 | Spherical hinge universal rotary motor, and manufacturing method and operating method thereof |
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