CN110535285A - Multi-freedom electric motor - Google Patents
Multi-freedom electric motor Download PDFInfo
- Publication number
- CN110535285A CN110535285A CN201910717859.7A CN201910717859A CN110535285A CN 110535285 A CN110535285 A CN 110535285A CN 201910717859 A CN201910717859 A CN 201910717859A CN 110535285 A CN110535285 A CN 110535285A
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- CN
- China
- Prior art keywords
- pressure tank
- pneumatic pressure
- pushing ram
- electric motor
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
Abstract
The present invention provides a kind of multi-freedom electric motors, belong to technical field of motors, including motor body, pushing ram, pneumatic pressure tank, propeller；Pushing ram is no less than three, pushing ram and motor body ball-joint；Pneumatic pressure tank matches with the pushing ram quantity, and the pneumatic pressure tank is equipped with rod set, and the rod set is equipped with through-hole, the through-hole is passed through the inner cavity of the pneumatic pressure tank, it is arranged the pushing ram in the rod set, is equipped with piston in the pneumatic pressure tank, the piston is slidably connected with pneumatic pressure tank；Propeller is set in the pneumatic pressure tank, for pushing air in the piston compression gas-pressure case, so that the pushing ram be driven to move up and down.Multi-freedom electric motor control provided by the invention is simpler, reduces control cost, it is easier to the marketization.
Description
Technical field
The invention belongs to technical field of motors, are to be related to a kind of multi-freedom electric motor more specifically.
Background technique
Gauche form multi-freedom electric motor there has been very big progress from generation by now, and how free the gauche form occurred at present is
Spending electric machine structure is mostly globular motor structure, and the motor-field of this kind of structure is mostly three-dimensional magnetic field, is difficult to be reduced to two-dimensional magnetic field,
Cause to control operation complexity.Meanwhile the multiple degrees of freedom yaw motion to realize motor, each different freedom degree require to be arranged
Different electromagnetic field relationships causes there is complicated coupled relation between each freedom degree, and these coupled relations can seriously affect electricity
The stability of the movement of machine, therefore the mostly free motor control of existing gauche form is difficult, stability is poor, has in practical application area
Very big limitation.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-freedom electric motors, it is intended to solve existing gauche form multi-freedom electric motor knot
The problem of structure controls complexity and is difficult to realize.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of multi-freedom electric motor is provided, comprising:
Motor body；
Pushing ram, no less than three, the pushing ram and motor body ball-joint；
Pneumatic pressure tank matches with the pushing ram quantity, and the pneumatic pressure tank is equipped with rod set, and the rod set is equipped with logical
Hole, the through-hole are passed through the inner cavity of the pneumatic pressure tank, and the pushing ram is arranged in the rod set, is equipped with and lives in the pneumatic pressure tank
Plug, the piston are slidably connected with pneumatic pressure tank；
Propeller is set in the pneumatic pressure tank, for pushing air in the piston compression gas-pressure case, thus described in driving
Pushing ram moves up and down.
Further, the propeller includes the first iron core and first coil, and the first coil is wound in the first iron core
On, the piston is equipped with the first magnet, the N grade of first magnet or S grades towards described first close to the first coil end
Coil.
Further, the pneumatic pressure tank offers air hole away from the propeller end, on the side wall in the pneumatic pressure tank
Equipped with sliding slot, sliding setting plug, the plug can cover the air hole on the sliding slot, and the pneumatic pressure tank is externally provided with driving
Device, the driver is for driving the plug to move along the chute.
Further, the driver includes the second iron core and the second coil, and second coil is wound in the second iron core
On, closer second coil-end of plug is equipped with the second magnet, and the N grade of second magnet or S grades are towards second line
Circle.
Further, the plug includes bottom plate and boss, and second magnet is set on the boss, and the boss can
It is sheathed in the air hole.
Further, the bottom plate is equipped with connecting rod, and the plug is slided by means of the connecting rod and the sliding slot
Connection.
Further, the pushing ram outer wall is equipped with protrusion, and the protrusion can be overlapped in the rod set upper surface.
Further, the pushing ram bottom end is equipped with pressure sensor.
Further, the motor body includes:
Motor casing, an end face are equipped with delivery outlet, are along the circumferential direction installed with several stator winding on the motor casing inner wall；
Shaft, one end and the delivery outlet are rotatablely connected, and the other end is connect with squash in motor casing bottom end, in the shaft
Equipped with gear；
Rotor core, outer wall are equipped with several magnetic shoes, gear grooved are equipped at the rotor core center, and the gear is inserted
In gear grooved.
Further, arc groove, the rotating shaft bottom are equipped at the shaft bottom end and motor casing bottom end inner wall center
End is connected with the arc groove of the motor casing bottom end by ball ball.
The beneficial effect of multi-freedom electric motor provided by the invention is: compared with prior art, multiple degrees of freedom of the present invention
Motor ball-joint pushing ram outside single-degree-of-freedom motor body, pushing ram is deflected according to motor body freely to be needed that quantity is arranged
And position, it should at least be arranged three, and pushing ram is sheathed in the rod set through-hole being connected with air pressure box cavity, be set in pneumatic pressure tank
There are propeller and piston, moving up and down for pushing ram is controlled by propeller control piston compresses air and realizes the inclined of motor body
Turn freedom degree.While realizing motor deflection freedom degree, the own rotation of motor body and its yaw motion are separately controlled
System, avoids the coupling of electromagnetic relationship between each freedom degree, so that control is simpler, is easily achieved, reduces control cost, more
It is easy the marketization.
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 creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the structural schematic diagram of multi-freedom electric motor provided in an embodiment of the present invention；
Fig. 2 is the schematic cross-sectional view of multi-freedom electric motor provided in an embodiment of the present invention；
Fig. 3 is pneumatic pressure tank structural schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the sectional structure chart of the line A-A along Fig. 3；
Fig. 5 is stopper structure schematic diagram provided in an embodiment of the present invention；
Fig. 6 is electric machine structure schematic diagram provided in an embodiment of the present invention；
Fig. 7 is the sectional structure chart of the line B-B along Fig. 6；
Fig. 8 is rotor connection structure schematic diagram provided in an embodiment of the present invention；
Fig. 9 is pivot structure schematic diagram provided in an embodiment of the present invention.
In figure: 1, motor body；2, pushing ram；3, rod set；4, pneumatic pressure tank；5, driver；6, piston；7, plug；8,
One magnet；9, propeller；10, bracket；11, shaft；12, stator winding；13, magnetic shoe；14, rotor core；15, ball；16, tooth
Wheel；17, motor casing；101, engaging lug；401, threading hole；402, sliding slot；403, air hole；701, connecting rod；702, bottom plate；
703, boss.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Also referring to Fig. 1 and Fig. 2, now multi-freedom electric motor provided by the invention is illustrated.The multiple degrees of freedom
Motor, including motor body 1, pushing ram 2, pneumatic pressure tank 4, propeller 9.2 quantity of pushing ram be no less than three and with motor sheet
1 ball-joint of body.Pneumatic pressure tank 4 matches with 2 quantity of pushing ram, and pneumatic pressure tank 4 is equipped with rod set 3, and rod set 3 is equipped with through-hole, through-hole
It is passed through the inner cavity of pneumatic pressure tank 4, pushing ram 2 is arranged in rod set 3, piston 6 is equipped in pneumatic pressure tank 4, piston 6 and the sliding of pneumatic pressure tank 4 connect
It connects；Propeller 9 is set in the pneumatic pressure tank 4, for pushing air in 6 compression gas-pressure case 4 of piston, to drive the pushing ram
2 move up and down.
Multi-freedom electric motor provided by the invention rotates flexural pivot outside single-degree-of-freedom motor body 1 compared with prior art
Pushing ram 2 is connect, pushing ram 2 is deflected according to motor body 1 freely to be needed that quantity and position is arranged, it should at least be arranged three, and
Pushing ram 2 is sheathed in 3 through-hole of rod set being connected with 4 inner cavity of pneumatic pressure tank, propeller 9 and piston 6 are equipped in pneumatic pressure tank 4, is led to
Cross the deflection freedom degree for moving up and down realization motor body 1 that propeller 9 controls 6 compressed air of piston control pushing ram 2.In reality
While motor is now deflected freedom degree, the own rotation of motor body 1 and its yaw motion are separately controlled, avoided respectively
By the coupling of electromagnetic relationship between spending, so that control is simpler, is easily achieved, control cost is reduced, it is easier to the marketization.
In the present embodiment, four pushing rams 2 are evenly distributed in the circumferencial direction of motor body 1, a gas is arranged in each pushing ram 2
Press case 4, rod set 3, piston 6 and propeller 9.When propeller 9 is failure to actuate, the rotation along the vertical direction of motor body 1.It is electric when wanting
Machine ontology 1 at various height vertical rotation when, push 6 compressed air of piston, air simultaneously by control four propellers 9
Compression generates atmospheric pressure and pushing ram 2 is pushed to move simultaneously upwards along rod set 3, when reset, promotes driving piston 6 to withdraw reset, in fact
Existing motor body 1 moves up and down.If desired motor carries out deflection rotation, passes through and control the different promotion pistons 6 of propeller 9
Mobile different displacement, because piston 6 is displaced the different decrements differences for gas in pneumatic pressure tank 4, so as to cause the shifting of pushing ram 2
Dynamic distance is different, forms the deflection of 1 different directions of motor body.
As a kind of specific embodiment of multi-freedom electric motor provided by the invention, referring to Fig. 2, propeller 9 includes
First iron core and first coil, first coil are wound on the first iron core, and piston 6 is equipped with the first magnet 8 close to first coil end,
The N grade of first magnet 8 or S grades are towards first coil.
According to electric magnetisation principle, different magnetic field can be generated to the electric current that first coil leads to obstructed direction, size of current is not
It is also different with the intensity in magnetic field, when the magnetic field that first coil generates and the magnetic pole of the first magnet 8 towards first coil are mutually exclusive
When, 6 stress of piston is to far from the movement of 9 direction of propeller；The magnetic field generated when first coil and the first magnet 8 are towards first coil
Magnetic pole when attracting each other, 6 stress of piston is to mobile close to 9 direction of propeller；To realize moving up and down for pushing ram 2.Gas
It presses 9 mounting surface of propeller of case 4 to be equipped with threading hole 401, facilitates the electrical connection of propeller 9.
As a kind of specific embodiment of the embodiment of the present invention, Fig. 2 to Fig. 5 is please referred to, pneumatic pressure tank 4 deviates from propeller 9
End offers air hole 403, and the side wall in pneumatic pressure tank 4 is equipped with sliding slot 402, and sliding setting plug 7 in sliding slot 402, plug 7 can
Air hole 403 is covered, pneumatic pressure tank 4 is externally provided with driver 5, and driver 5 is for driving 402 movement along the chute of plug 7.Normal condition
Lower end cap 7 is in the state of covering air hole 403, and entire pneumatic pressure tank 4 seals, when motor body 1 needs to be reset, to reply immediately fastly
Bit driver 5 drives plug 7, and 402, air hole 403 ventilation mobile towards 403 direction of air hole is deviated from, motor body 1 are multiple along the chute
Position.The deflection action control of motor body 1 is separated with homing action control, the realization of more convenient control.
As a kind of specific embodiment of the embodiment of the present invention, Fig. 1 and Fig. 2 is please referred to, driver 5 includes the second iron core
And second coil, the second coil are wound on the second iron core, closer second coil-end of plug 7 is equipped with the second magnet, the second magnetic
The N grade of body or S grades of the second coils of direction.
When the second coil is powered the magnetic field generated and the mutually exclusive magnetic pole of the second magnet towards the second coil, plug 7
Stress is towards away from the movement of 403 direction of air hole；When the magnetic field that the energization of the second coil generates and the second magnet the second coil of direction
When magnetic pole attracts each other, plug 7 covers air hole 403 again.Pneumatic pressure tank 4 is externally provided with bracket 10, and driver 5 is solid by bracket 10
It is scheduled on that pneumatic pressure tank 4 is outer and face air hole 403.
As a kind of specific embodiment of the embodiment of the present invention, Fig. 4 to Fig. 5 is please referred to, plug 7 includes 702 He of bottom plate
Boss 703, the second magnet are set on boss 703, and boss 703 can be sheathed in air hole 403.Boss 703 is arranged air hole 403
Mode cover air hole 403 sealing it is tighter.
As a kind of specific embodiment of the embodiment of the present invention, Fig. 4 to Fig. 5 is please referred to, bottom plate 702 is equipped with connecting rod
701, plug 7 is slidably connected by means of connecting rod 701 and sliding slot 402.
In the present embodiment, it is two that the sliding slot 402 on 4 inner wall of pneumatic pressure tank, which is symmetrical arranged, and the bottom end of sliding slot 402 is spherical shape.
It is two that connecting rod 701 is accordingly symmetrical arranged on plug 7, and 701 end face of connecting rod is equipped with ballhead.When plug 7 covers
When stomata 403, the ballhead of connecting rod 701 fits with the bottom end spherical shape of sliding slot 402.Sliding slot 402 is arranged two and makes plug 7
402 slidings are more stable along the chute.701 end of connecting rod is set as ballhead to be conducive to reduce sliding friction power.
As a kind of specific embodiment of the embodiment of the present invention, referring to Fig. 1,2 outer wall of pushing ram is equipped with protrusion, it is convex
3 upper surface of rod set can be overlapped in by rising.
As a kind of specific embodiment of the embodiment of the present invention, 2 bottom end of pushing ram is equipped with pressure sensor.Pressure is set
Sensor can experience the active force of air compression and pushing ram 2 in pneumatic pressure tank 4, and pressure sensor passes to pressure value
The controller of multi-freedom electric motor, by the mobile distance of the available pushing ram 2 of conversion so that it is determined that the deflection of motor body 1
State.
As a kind of specific embodiment of the embodiment of the present invention, Fig. 6 to Fig. 9 is please referred to, motor body 1 includes motor casing
17, shaft 11, rotor core 14.17 1 end face of motor casing is equipped with delivery outlet, is along the circumferential direction installed on 17 inner wall of motor casing
Several stator winding 12；11 one end of shaft and delivery outlet are rotatablely connected, and the other end is connect with squash in 17 bottom end of motor casing, shaft
11 are equipped with gear 16；14 outer wall of rotor core is equipped with several magnetic shoes 13, is equipped with gear grooved, tooth at 14 center of rotor core
Wheel 16 is inserted in gear grooved.
In the present embodiment, magnetic shoe 13 is one of permanent magnet, the tiles magnet being used primarily on magneto.Several magnetic
Watts 13 are arranged alternately on rotor core 14 by N grades, S grades of certain way.Motor casing 17 is externally provided with and 2 corresponding number of pushing ram
Engaging lug 101, pushing ram 2 pass through engaging lug 101 and 17 ball-joint of motor casing.
As a kind of specific embodiment of the embodiment of the present invention, Fig. 6 to Fig. 9,11 bottom end of shaft and motor casing are please referred to
Arc groove is equipped at 17 bottom ends inner wall center, 11 bottom end of shaft and the arc groove of 17 bottom end of motor casing pass through 15 ball of ball
It is connected.The rotor of motor body 1 is made of rotor core 14 and magnetic shoe 13, and early motor body 1 deflects may when rotating
Eccentricity issues are generated, shaft 11 are supported by ball 15, ball is adjusted by way of connecting one end, is conducive to slow down motor body
The eccentricity of 1 rotor.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. multi-freedom electric motor characterized by comprising
Motor body；
Pushing ram, no less than three, the pushing ram and motor body ball-joint；
Pneumatic pressure tank matches with the pushing ram quantity, and the pneumatic pressure tank is equipped with rod set, and the rod set is equipped with through-hole, institute
The inner cavity that through-hole is passed through the pneumatic pressure tank is stated, the pushing ram is arranged in the rod set, piston is equipped in the pneumatic pressure tank, it is described
Piston is slidably connected with pneumatic pressure tank；
Propeller is set in the pneumatic pressure tank, for pushing air in the piston compression gas-pressure case, to drive the propulsion
Bar moves up and down.
2. multi-freedom electric motor as described in claim 1, which is characterized in that the propeller includes the first iron core and First Line
Circle, the first coil is wound on the first iron core, and the piston is equipped with the first magnet close to the first coil end, and described the
The N grade of one magnet or S grades are towards the first coil.
3. multi-freedom electric motor as described in claim 1, which is characterized in that the pneumatic pressure tank is opened up away from the propeller end
There is air hole, the side wall in the pneumatic pressure tank is equipped with sliding slot, and sliding setting plug, the plug can cover institute on the sliding slot
Air hole is stated, the pneumatic pressure tank is externally provided with driver, and the driver is for driving the plug to move along the chute.
4. multi-freedom electric motor as claimed in claim 3, which is characterized in that the driver includes the second iron core and the second line
Circle, second coil is wound on the second iron core, and closer second coil-end of plug is equipped with the second magnet, and described second
The N grade of magnet or S grades are towards second coil.
5. multi-freedom electric motor as claimed in claim 4, which is characterized in that the plug includes bottom plate and boss, and described
Two magnets are set on the boss, and the boss can be sheathed in the air hole.
6. multi-freedom electric motor as claimed in claim 5, which is characterized in that the bottom plate is equipped with connecting rod, the plug
It is slidably connected by means of the connecting rod and the sliding slot.
7. multi-freedom electric motor as described in claim 1, which is characterized in that the pushing ram outer wall is equipped with protrusion, described
Protrusion can be overlapped in the rod set upper surface.
8. multi-freedom electric motor as described in claim 1, which is characterized in that the pushing ram bottom end is equipped with pressure sensor.
9. multi-freedom electric motor as described in claim 1, which is characterized in that the motor body includes:
Motor casing, an end face are equipped with delivery outlet, are along the circumferential direction installed with several stator winding on the motor casing inner wall；
Shaft, one end and the delivery outlet are rotatablely connected, and the other end is connect with squash in motor casing bottom end, and the shaft is equipped with
Gear；
Rotor core, outer wall are equipped with several magnetic shoes, are equipped with gear grooved at the rotor core center, the gear is inserted in
In gear grooved.
10. multi-freedom electric motor as claimed in claim 9, which is characterized in that the shaft bottom end and motor casing bottom end inner wall
Arc groove is equipped at center, the shaft bottom end is connected with the arc groove of the motor casing bottom end by ball ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910717859.7A CN110535285A (en) | 2019-08-05 | 2019-08-05 | Multi-freedom electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910717859.7A CN110535285A (en) | 2019-08-05 | 2019-08-05 | Multi-freedom electric motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110535285A true CN110535285A (en) | 2019-12-03 |
Family
ID=68661489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910717859.7A Pending CN110535285A (en) | 2019-08-05 | 2019-08-05 | Multi-freedom electric motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110535285A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007097267A (en) * | 2005-09-27 | 2007-04-12 | Sumitomo Heavy Ind Ltd | Multi-freedom actuator |
| CN101462251A (en) * | 2009-01-07 | 2009-06-24 | 上海劳达斯洁具有限公司 | Series parallel movement polisher with nine freedom degrees |
| CN104897782A (en) * | 2015-06-21 | 2015-09-09 | 褚宏鹏 | Serial-parallel automatic ultrasonic flaw test and retest set |
| CN205260248U (en) * | 2015-11-02 | 2016-05-25 | 孟良 | Piston magnetic force air compressor |
| CN105818135A (en) * | 2016-05-18 | 2016-08-03 | 哈尔滨工业大学 | Five-freedom-degree parallel mechanism variable in structure parameter and work space |
| CN108838996A (en) * | 2018-07-03 | 2018-11-20 | 北京航空航天大学 | A kind of five degree of freedom serial parallel mechanism |
| US20180372061A1 (en) * | 2015-06-28 | 2018-12-27 | Vassilios Vamvas | Eccentrically Rotating Mass Turbine |
-
2019
- 2019-08-05 CN CN201910717859.7A patent/CN110535285A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007097267A (en) * | 2005-09-27 | 2007-04-12 | Sumitomo Heavy Ind Ltd | Multi-freedom actuator |
| CN101462251A (en) * | 2009-01-07 | 2009-06-24 | 上海劳达斯洁具有限公司 | Series parallel movement polisher with nine freedom degrees |
| CN104897782A (en) * | 2015-06-21 | 2015-09-09 | 褚宏鹏 | Serial-parallel automatic ultrasonic flaw test and retest set |
| US20180372061A1 (en) * | 2015-06-28 | 2018-12-27 | Vassilios Vamvas | Eccentrically Rotating Mass Turbine |
| CN205260248U (en) * | 2015-11-02 | 2016-05-25 | 孟良 | Piston magnetic force air compressor |
| CN105818135A (en) * | 2016-05-18 | 2016-08-03 | 哈尔滨工业大学 | Five-freedom-degree parallel mechanism variable in structure parameter and work space |
| CN108838996A (en) * | 2018-07-03 | 2018-11-20 | 北京航空航天大学 | A kind of five degree of freedom serial parallel mechanism |
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Application publication date: 20191203 |