CN115021436A - Magnetic flux switching type permanent magnet spherical motor based on motion decoupling - Google Patents
Magnetic flux switching type permanent magnet spherical motor based on motion decoupling Download PDFInfo
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- CN115021436A CN115021436A CN202210589218.XA CN202210589218A CN115021436A CN 115021436 A CN115021436 A CN 115021436A CN 202210589218 A CN202210589218 A CN 202210589218A CN 115021436 A CN115021436 A CN 115021436A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/17—Stator cores with permanent magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
Abstract
The invention discloses a magnetic flux switching type permanent magnet spherical motor based on motion decoupling, wherein a stator structure of the motor is composed of a stator spherical shell and stator magnetic pole pairs fixedly arranged on the inner surface of the stator spherical shell; the permanent magnet is clamped by respective side edges of the two U-shaped stator magnetic pole teeth together, and the stator magnetic pole pairs are formed by winding windings, and the stator magnetic pole pairs are divided into spinning module magnetic pole pairs and inclined module magnetic pole pairs on the inner surface of the stator spherical shell according to different positions; the rotor structure is composed of a rotor spherical shell and rotor magnetic pole teeth fixedly arranged on the rotor spherical shell, the rotor spherical shell is a hollow magnetic conductive sphere, and the rotor magnetic pole teeth are cylindrical magnetic pole teeth made of magnetic conductive materials; each cylindrical magnetic pole tooth is independently embedded on the rotor spherical shell; the output shaft is fixedly connected with the rotor spherical shell and extends along the radial direction of the rotor spherical shell; the invention adopts a modular design based on motion decoupling, and divides the stator magnetic pole pair and the rotor magnetic pole tooth into a self-rotating motion module and an inclined motion module so as to realize multi-degree-of-freedom motion.
Description
Technical Field
The invention relates to a spherical motor, in particular to a magnetic flux switching type permanent magnet spherical motor based on motion decoupling.
Background
The traditional multi-degree-of-freedom execution device is formed by combining two or more single-degree-of-freedom motors and a complex transmission device, the redundancy of the structure is complex, the size is large, the complex transmission device limits the improvement of control precision, and the system rigidity is also limited; for example, a motor used for a robot joint is required to have a small size and a sufficiently large output torque, and a conventional multi-degree-of-freedom actuator is difficult to be applied to the motor.
Currently, spherical motors are still in the laboratory research stage, and various spherical motors based on different working principles such as ultrasonic type, permanent magnet type, induction type and reluctance type are available; the spherical motor has high integration level, complex structure and strong coupling, and is not beneficial to the efficient and accurate control of the motor; on the other hand, the spherical motor is limited by the structure and the driving principle, the output torque is often smaller, and the rotor permanent magnet is thrown off under the action of centrifugal force when the spherical motor runs at high speed, so that a fixing device needs to be installed on the rotor, the problems of difficult heat dissipation and complex manufacturing process are caused, the permanent magnet is possibly subjected to irreversible demagnetization due to temperature rise, and the output torque of the spherical motor is further limited.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides the magnetic flux switching type permanent magnet spherical motor based on motion decoupling, which has high power density, large output torque, stable structure and good control effect, and realizes the multi-degree-of-freedom motion of the motor by changing the on-off, the energization size and the energization direction of the stator coil so as to influence the position of a magnetic flux path.
The invention adopts the following technical scheme for solving the technical problems:
the invention relates to a magnetic flux switching type permanent magnet spherical motor based on motion decoupling, which comprises a stator structure and a rotor structure and is characterized in that:
the stator structure is composed of a stator spherical shell and stator magnetic pole pairs fixedly arranged on the inner surface of the stator spherical shell; the two U-shaped stator magnetic pole teeth clamp the permanent magnet together by respective side arms, and form a stator magnetic pole pair in a sector shape by winding, and the stator magnetic pole pair is divided into a plurality of groups of spinning module magnetic pole pairs and a plurality of groups of inclined module magnetic pole pairs on the inner surface of the stator spherical shell according to different positions; the stator spherical shell is a non-magnetic conductive spherical shell;
the rotor structure is composed of a rotor spherical shell and rotor magnetic pole teeth fixedly arranged on the rotor spherical shell, the rotor spherical shell is a hollow magnetic conductive sphere, and the rotor magnetic pole teeth are cylindrical magnetic pole teeth made of magnetic conductive materials; each cylindrical magnetic pole tooth is independently embedded on the rotor spherical shell; the output shaft is fixedly connected with the rotor spherical shell and extends along the radial direction of the rotor spherical shell;
and based on motion decoupling, the spinning module magnetic pole pairs in the stator magnetic pole pairs and the rotor magnetic pole teeth form spinning motion modules, and the inclined module magnetic pole pairs in the stator magnetic pole pairs and the rotor magnetic pole teeth form inclined motion modules, so that multi-degree motion is realized.
The magnetic flux switching type permanent magnet spherical motor based on motion decoupling is also characterized in that:
the stator magnetic pole pairs comprise four groups of spinning module magnetic pole pairs and four groups of inclined module magnetic pole pairs, all the stator magnetic pole pairs are uniformly distributed on the inner surface of the stator spherical shell along the inner circumference of the equator line of the stator spherical shell, and the spinning module magnetic pole pairs and the inclined module magnetic pole pairs are arranged alternately one by one, so that the four groups of spinning module magnetic poles form cross distribution, and the four groups of inclined module magnetic pole pairs are also distributed in a cross distribution manner; the sector of each magnetic pole pair in the four groups of spinning module magnetic pole pairs is parallel to the plane of the equator line of the stator spherical shell; the sectors of the magnetic pole pairs in the four groups of inclined module magnetic pole pairs are vertical to the plane of the equator line of the stator spherical shell;
the rotor magnetic pole teeth are distributed on the surface of the rotor spherical shell at intervals of 16.36 degrees into seven layers, which are respectively: the rotor comprises a central layer rotor magnetic pole tooth positioned on the equator line of a rotor spherical shell, three layers of upper layer rotor magnetic pole teeth positioned above the equator line of the rotor spherical shell, and three layers of lower layer rotor magnetic pole teeth positioned below the equator line of the rotor spherical shell; 11 rotor magnetic pole teeth are uniformly distributed in each layer, and the positions of the rotor magnetic pole teeth between the upper layer and the lower layer are staggered.
The magnetic flux switching type permanent magnet spherical motor based on motion decoupling is also characterized in that: the U-shaped stator magnetic pole teeth are attached to the inner surface of the stator spherical shell through arc-shaped bottom edges of the U-shaped stator magnetic pole teeth and are fixed with each other.
The magnetic flux switching type permanent magnet spherical motor based on motion decoupling is also characterized in that: cylindrical grooves are formed in the surface of the rotor spherical shell, and the rotor magnetic pole teeth are independently embedded in the cylindrical grooves, so that the tops of the rotor magnetic pole teeth and the outer surface of the rotor spherical shell are spherical.
The magnetic flux switching type permanent magnet spherical motor based on motion decoupling is also characterized in that: the permanent magnets in the magnetic pole pairs of the spinning modules have the same polarity, and the permanent magnets in the magnetic pole pairs of the tilting modules have the same polarity and point to the U-shaped stator magnetic pole teeth from one side of the U-shaped stator magnetic pole teeth to the other side of the U-shaped stator magnetic pole teeth.
The magnetic flux switching type permanent magnet spherical motor based on motion decoupling is also characterized in that: the stator spherical shell is formed by oppositely combining two hemispherical shells and is fixedly arranged on the base through bolts, a ball bearing is arranged in the base, the rotor structure is supported on the ball bearing, the ball bearing is arranged in a screw hole of the base through threaded connection by a screw rod, and the installation height of the ball bearing is adjustable.
Compared with the prior art, the invention has the beneficial effects that:
1. the magnetic flux switching type permanent magnet spherical motor based on motion decoupling has small volume and simple control, and can replace the traditional multi-degree-of-freedom device in occasions with higher requirements, thereby reducing redundant structures, such as: the method is applied to the fields of high precision such as aerospace mechanical arms, robot joints, bionic eyes and the like.
2. The flux-switching permanent magnet spherical motor adopts a modular design, the stator magnetic pole pairs responsible for self-spinning motion and inclined motion are mutually independent from the rotor magnetic pole teeth, and the stator magnetic pole pairs and the rotor magnetic pole teeth are organically combined in a fault-tolerant manner to realize multi-degree-of-freedom motion. Compared with the traditional multivariable, strong-coupling and complex drive control method of the spherical motor, the method has good decoupling performance, is beneficial to complex motion decoupling analysis and is convenient to control.
3. The magnetic flux switching type permanent magnet spherical motor is based on a magnetic flux switching principle, a magnetic flux passage is switched by changing the current direction of a winding, and when the motor is not electrified, two U-shaped stator magnetic pole teeth in a stator magnetic pole pair are in a critical saturation state; after the power is switched on, side arms of the two U-shaped stator magnetic pole teeth and the rotor magnetic pole teeth form a magnetic flux path, electromagnetic force is generated on the rotor magnetic pole teeth, and the motor is driven to realize multi-degree-of-freedom motion.
4. The permanent magnets are all fixed in the stator, only the rotor teeth made of magnetic materials are arranged on the rotor, the heat dissipation effect is good, the output torque is large, the ampere turns of the coils are changed, and the larger output torque can be provided.
Drawings
FIG. 1 is a schematic structural diagram of a magnetic flux switching type permanent magnet spherical motor based on motion decoupling;
FIG. 2 is a schematic view of a rotor structure and an output shaft structure according to the present invention;
FIG. 3 is a schematic view of a stator pole pair structure according to the present invention;
FIG. 4 is a schematic view of the stator pole pair arrangement of the present invention;
FIG. 5 is a schematic view of a rotor and stator pole pair in spinning motion according to the present invention;
FIG. 6 is a schematic view of the rotor and stator pole pairs during tilting motion in accordance with the present invention;
FIG. 7 is a schematic diagram showing the correspondence between the spin rotation angle of the rotor and the electromagnetic torque;
FIG. 8 is a schematic diagram showing the corresponding relationship between the rotor tilting angle and the electromagnetic torque;
reference numbers in the figures: 1 stator spherical shell, 2 permanent magnets, 3 stator magnetic pole teeth, 4 windings, 5 output shafts, 6 rotor spherical shells, 7 rotor magnetic pole teeth, 8 bases and 9 ball bearings.
Detailed Description
Referring to fig. 1, the flux-switching permanent magnet spherical motor based on motion decoupling in the present embodiment includes a stator structure and a rotor structure.
As shown in fig. 1, fig. 3 and fig. 4, the stator structure is composed of a stator spherical shell 1 and stator magnetic pole pairs fixedly arranged on the inner surface of the stator spherical shell 1; the two U-shaped stator magnetic pole teeth 3 clamp the permanent magnet 2 by respective side arms together, and form a stator magnetic pole pair in a sector shape by winding the winding 4, and the stator magnetic pole pair is divided into a plurality of groups of spinning module magnetic pole pairs and a plurality of groups of inclined module magnetic pole pairs on the inner surface of the stator spherical shell 1 according to different positions; the stator spherical shell 1 is a non-magnetic conductive spherical shell; all set up permanent magnet and coil in stator structure, can effectual improvement motor structure's stability and radiating effect, avoid the risk that the permanent magnet insecure or radiating effect is not good leads to the permanent magnet demagnetization.
As shown in fig. 1 and 2, the rotor structure is composed of a rotor spherical shell 6 and rotor magnetic pole teeth 7 fixedly arranged on the rotor spherical shell 6, the rotor spherical shell 6 is a hollow magnetic conductive sphere, and the rotor magnetic pole teeth 7 are cylindrical magnetic pole teeth made of magnetic conductive material; each cylindrical magnetic pole tooth is independently embedded on the rotor spherical shell 6; the rotor spherical shell 6 is of a hollow structure, so that materials are saved, cost is reduced, the rotational inertia of the rotor structure is effectively reduced, efficiency is higher, response speed is higher, no winding or other additional parts exist in the rotor structure, and the structure is very stable.
The output shaft 5 is fixedly connected with the rotor spherical shell 6 and extends along the radial direction of the rotor spherical shell 6, the output shaft 5 is connected with a load, and the rotor structure drives the output shaft 5 to move when moving so as to drive the load. Based on motion decoupling, each spinning module magnetic pole pair in the stator magnetic pole pair and the rotor magnetic pole tooth form a spinning motion module, and each inclined module magnetic pole pair in the stator magnetic pole pair and the rotor magnetic pole tooth form an inclined motion module, so that multi-degree motion is realized.
The stator spherical shell 1 shown in fig. 1 is formed by involution of two hemispherical shells, and is fixedly arranged on a base 8 through bolts, a ball bearing 9 is arranged in the base 8, a rotor structure is supported on the ball bearing 9, the ball bearing 9 is arranged in a screw hole of the base 8 through threaded connection by utilizing a screw rod, and the installation height is adjustable. The top end of the ball bearing 9 shown in fig. 1 is a spherical universal ball, which has small friction and can rotate in any direction to ensure the multi-degree-of-freedom motion of the rotor structure; the lower part of the ball bearing 9 is a screw rod, the screw rod is arranged in a screw hole of the base 8, so that the ball bearing 9 is fixed, and the installation height can be adjusted by the screw rod; because the position of the rotor can be deviated due to the manufacturing process and the later operation, the center of the rotor structure and the center of the stator structure are not in the same point, and at the moment, the position of the center of the rotor structure is positioned to be consistent with the position of the center of the stator structure by adjusting the installation height of the ball bearing 9.
In specific implementation, the corresponding structural measures also include:
as shown in fig. 1 and 4, the stator pole pair comprises four sets of spin module pole pairs and four sets of tilt module pole pairs, respectively shown in fig. 4 as a first spin module pole pair a11 phase, a second spin module pole pair a12 phase, a third spin module pole pair a13 phase, and a fourth spin module pole pair a14 phase, and a first tilt module pole pair B11 phase, a second tilt module pole pair B12 phase, a third tilt module pole pair B13 phase, and a fourth tilt module pole pair B14 phase; all the stator magnetic pole pairs are uniformly distributed on the inner surface of the stator spherical shell 1 along the inner circumference of the equator line of the stator spherical shell, and are arranged alternately one by the spinning module magnetic pole pairs and the inclined module magnetic pole pairs, so that four groups of spinning module magnetic poles form cross distribution, and four groups of inclined module magnetic pole pairs are also distributed in a cross shape, the sector surfaces of the magnetic pole pairs in the four groups of spinning module magnetic pole pairs are parallel to the plane of the equator line of the stator spherical shell 1, the polarities of the permanent magnets in the respective spinning module magnetic pole pairs are the same, and the permanent magnets point to the U-shaped stator magnetic pole teeth from one side U-shaped stator magnetic pole teeth to the other side U-shaped stator magnetic pole teeth; the sectors of each magnetic pole pair in the four groups of inclined module magnetic pole pairs are vertical to the plane where the equator line of the stator spherical shell 1 is located, and the polarities of the permanent magnets in each inclined module magnetic pole pair are the same and point to the U-shaped stator magnetic pole teeth from one side U-shaped stator magnetic pole teeth to the other side U-shaped stator magnetic pole teeth; the arc-shaped bottom edge of the U-shaped stator magnetic pole teeth 3 is attached to the inner surface of the stator spherical shell 1 and fixed with each other; the arc-shaped bottom edge of the U-shaped stator magnetic pole teeth 3 is attached to the inner surface of the stator spherical shell 1, so that the stator magnetic pole teeth can be effectively ensured to be opposite to the spherical center; fig. 5 shows that the arrangement of the opposite spherical centers can make the stator magnetic pole teeth and the rotor magnetic pole teeth opposite when the rotor magnetic pole teeth move to the lower parts of the stator magnetic pole teeth, and the distribution of the air gap magnetic field is more uniform and symmetrical.
As shown in fig. 1 and 2, the rotor magnetic pole teeth 7 are distributed on the surface of the rotor spherical shell 6 in seven layers at intervals of 16.36 °, and are respectively: the rotor magnetic pole teeth on the central layer positioned on the equator line of the rotor spherical shell 6, the rotor magnetic pole teeth on the upper layer positioned above the equator line of the rotor spherical shell 6 and the rotor magnetic pole teeth on the lower layer positioned below the equator line of the rotor spherical shell 6; 11 rotor magnetic pole teeth are uniformly distributed in each layer, and the positions of the rotor magnetic pole teeth between the upper layer and the lower layer are staggered; cylindrical grooves are formed in the surface of the rotor spherical shell 6, and rotor magnetic pole teeth are independently embedded in the cylindrical grooves, so that the tops of the rotor magnetic pole teeth and the outer surface of the rotor spherical shell 6 are in a spherical surface; the top surface of each rotor magnetic pole tooth is set to be a spherical surface, so that the length of an air gap at any position is consistent when the rotor magnetic pole teeth and the stator magnetic pole teeth are aligned; in order to make the distribution of the rotor magnetic pole teeth 7 in the rotor spherical shell 6 clearer, the outer spherical surface of the rotor spherical shell 6 is not illustrated in fig. 2, 5 and 6.
The movement of the multi-freedom spherical motor is realized by torque generated by the electromagnetic force of interaction between the stator and the rotor, when the windings on the stator magnetic pole pair are not electrified, the permanent magnet 2, the U-shaped magnetic pole teeth 3 on the two sides and the rotor magnetic pole teeth 7 form a closed magnetic loop, and the rotor structure has no electromagnetic torque at the moment. When the windings on the stator magnetic pole pair are electrified in a certain direction, magnetic flux switching is formed, two U-shaped magnetic pole teeth and the rotor magnetic pole teeth which are spaced form a magnetic flux passage, and the electromagnetic tangential force is applied to the rotor nearby, so that the rotor is driven to move. When the windings on the stator magnetic pole pair are electrified with currents in opposite directions, the other two U-shaped magnetic pole teeth and the rotor magnetic pole teeth form a magnetic flux path to generate electromagnetic tangential force. When the U-shaped magnetic pole teeth in the stator structure are superposed with the rotor magnetic pole teeth, the torque is minimum, and when the U-shaped magnetic pole teeth and the rotor magnetic pole teeth deviate by a certain angle, the generated electromagnetic torque can enable the rotor magnetic pole teeth to move towards the superposition position of the U-shaped magnetic pole teeth and the rotor magnetic pole teeth. Due to the symmetry of the rotor structure and the stator structure, the self-rotating and the tilting motion have certain symmetry.
Referring to fig. 5, the stator magnetic pole pair and the rotor magnetic pole tooth in the spin motion module are structurally illustrated, and taking the second spin module magnetic pole pair a12 as an example, when the coil winding is energized with a current in the same direction as the permanent magnet, the coil generates a magnetic field, the magnetic field of the coil forms a magnetic flux path between the first side arm 31 and the second side arm 32 of the stator magnetic pole tooth and the horizontally adjacent first rotor magnetic pole tooth 71 and second rotor magnetic pole tooth 71 at corresponding positions, and generates a tangential force on the rotor to drive the rotor to rotate; similarly, the A11 phase, the A13 phase and the A14 phase are mutually matched and electrified to drive the motor to complete the spin motion, the adjacent opposite currents are communicated, and the opposite currents are communicated, so that larger torque can be obtained.
Referring to fig. 6, the stator magnetic pole pairs and the rotor magnetic pole teeth of the tilting motion module are structurally schematic, and the same as the self-rotating driving principle, current is introduced into the coils of the stator magnetic pole pairs, and different stator magnetic pole teeth and rotor magnetic pole teeth form magnetic flux paths to drive the rotor to realize tilting motion. Shown as phase B11 in cooperation with phase B13 to drive one degree of freedom of tilt motion. Similarly, the B12 phase and the B14 phase cooperate to complete another degree of freedom of tilt motion.
According to the invention, each driving unit is modularized and independently arranged, and the driving units are organically combined in a fault-tolerant manner to realize multi-degree-of-freedom motion; compared with a complex drive control mode of a traditional multi-degree-of-freedom spherical motor, the modularized drive unit has good decoupling performance, is beneficial to complex motion decoupling analysis and is convenient to control. Aiming at the self-rotating and tilting motion, the rotor completes the multi-degree-of-freedom stepping motion in a certain output range by adjusting the on-off and the magnitude of the current of winding coils of different stator magnetic pole pairs. The rotor structure rotates to drive the output shaft to move, so that the load moves according to a designed movement mode.
Fig. 7 shows that when the stator magnetic pole is electrified by matching with the multiple coils, the maximum output torque of the rotor structure under the spin motion is improved by 150% compared with that of a single coil. Fig. 8 shows that when the stator magnetic pole is electrified in cooperation with the multiple coils, the maximum output torque of the rotor structure under the inclined motion is improved by 33% compared with that of a single coil.
In light of the foregoing, it will be appreciated by those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention as defined in the appended claims. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. The utility model provides a magnetic flux switches type permanent magnetism spherical motor based on motion decoupling, includes stator structure and rotor structure, characterized by:
the stator structure is composed of a stator spherical shell (1) and stator magnetic pole pairs fixedly arranged on the inner surface of the stator spherical shell (1); the two U-shaped stator magnetic pole teeth (3) clamp the permanent magnet (2) by respective side arms together, and the parallel winding (4) forms a stator magnetic pole pair in a sector shape, and the stator magnetic pole pair is divided into a plurality of groups of spinning module magnetic pole pairs and a plurality of groups of inclined module magnetic pole pairs on the inner surface of the stator spherical shell (1) according to different positions; the stator spherical shell (1) is a non-magnetic conductive spherical shell;
the rotor structure is composed of a rotor spherical shell (6) and rotor magnetic pole teeth (7) fixedly arranged on the rotor spherical shell (6), the rotor spherical shell (6) is a hollow magnetic conductive sphere, and the rotor magnetic pole teeth (7) are cylindrical magnetic pole teeth made of magnetic conductive materials; each cylindrical magnetic pole tooth is independently embedded on the rotor spherical shell; the output shaft (5) is fixedly connected with the rotor spherical shell (6) and extends along the radial direction of the rotor spherical shell (6);
and based on motion decoupling, the spinning module magnetic pole pairs in the stator magnetic pole pairs and the rotor magnetic pole teeth form spinning motion modules, and the inclined module magnetic pole pairs in the stator magnetic pole pairs and the rotor magnetic pole teeth form inclined motion modules, so that multi-degree motion is realized.
2. The flux-switching permanent magnet spherical motor based on motion decoupling according to claim 1, wherein:
the stator magnetic pole pairs comprise four groups of spinning module magnetic pole pairs and four groups of inclined module magnetic pole pairs, all the stator magnetic pole pairs are uniformly distributed on the inner surface of the stator spherical shell (1) along the inner circumference where the equator line of the stator spherical shell is located, and the spinning module magnetic pole pairs and the inclined module magnetic pole pairs are arranged alternately one by one, so that the four groups of spinning module magnetic poles form cross distribution, and the four groups of inclined module magnetic pole pairs are also distributed in a cross distribution; the sector of each magnetic pole pair in the four groups of spinning module magnetic pole pairs is parallel to the plane of the equator line of the stator spherical shell (1); the sectors of the magnetic pole pairs in the four groups of inclined module magnetic pole pairs are vertical to the plane of the equator line of the stator spherical shell (1);
the rotor magnetic pole teeth (7) are distributed on the surface of the rotor spherical shell (6) at intervals of 16.36 degrees into seven layers, which are respectively as follows: the center layer rotor magnetic pole teeth are positioned on the equator line of the rotor spherical shell (6), the three layers of upper layer rotor magnetic pole teeth are positioned above the equator line of the rotor spherical shell (6), and the three layers of lower layer rotor magnetic pole teeth are positioned below the equator line of the rotor spherical shell (6); 11 rotor magnetic pole teeth are uniformly distributed in each layer, and the positions of the rotor magnetic pole teeth between the upper layer and the lower layer are staggered.
3. The flux-switching permanent magnet spherical motor based on motion decoupling according to claim 1 or 2, characterized in that:
the U-shaped stator magnetic pole teeth (3) are attached to the inner surface of the stator spherical shell (1) through arc-shaped bottom edges and fixed with each other.
4. The flux-switching permanent magnet spherical motor based on motion decoupling according to claim 1 or 2, characterized in that:
cylindrical grooves are formed in the surface of the rotor spherical shell (6), and rotor magnetic pole teeth are independently embedded in the cylindrical grooves, so that the tops of the rotor magnetic pole teeth and the outer surface of the rotor spherical shell (6) are in a spherical surface.
5. The flux-switching permanent magnet spherical motor based on motion decoupling according to claim 1, wherein:
the permanent magnets in the magnetic pole pairs of the spinning modules have the same polarity, and the permanent magnets in the magnetic pole pairs of the tilting modules have the same polarity and point to the U-shaped stator magnetic pole teeth from one side of the U-shaped stator magnetic pole teeth to the other side of the U-shaped stator magnetic pole teeth.
6. The flux-switching permanent magnet spherical motor based on motion decoupling according to claim 1, wherein:
the stator spherical shell (1) is formed by oppositely combining two hemispherical shells and is fixedly arranged on a base (8) through bolts, a ball bearing (9) is arranged in the base (8), a rotor structure is supported on the ball bearing (9), the ball bearing (9) is installed in a screw hole of the base (8) through threaded connection by a screw rod, and the installation height is adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210589218.XA CN115021436A (en) | 2022-05-26 | 2022-05-26 | Magnetic flux switching type permanent magnet spherical motor based on motion decoupling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210589218.XA CN115021436A (en) | 2022-05-26 | 2022-05-26 | Magnetic flux switching type permanent magnet spherical motor based on motion decoupling |
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| Publication Number | Publication Date |
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| CN115021436A true CN115021436A (en) | 2022-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210589218.XA Pending CN115021436A (en) | 2022-05-26 | 2022-05-26 | Magnetic flux switching type permanent magnet spherical motor based on motion decoupling |
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| CN (1) | CN115021436A (en) |
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2022
- 2022-05-26 CN CN202210589218.XA patent/CN115021436A/en active Pending
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