CN1293693C - Multiple freedom degree motor - Google Patents
Multiple freedom degree motor Download PDFInfo
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- CN1293693C CN1293693C CNB031324347A CN03132434A CN1293693C CN 1293693 C CN1293693 C CN 1293693C CN B031324347 A CNB031324347 A CN B031324347A CN 03132434 A CN03132434 A CN 03132434A CN 1293693 C CN1293693 C CN 1293693C
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- drive unit
- permanent magnet
- operation strip
- center line
- stator
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Abstract
The present invention relates to a multiple freedom degree motor which relates to an electrically driving device with a multiple freedom degree action. The present invention comprises two technical proposals: a first proposal comprises a first driving device, a permanent magnet, a third driving device and an output shaft. In a second proposal, a second driving device replaces a third driving device. Two first movable sheets of the first driving device are symmetrically fixed at both sides of the permanent magnet, and two first rotating sheets are respectively connected to the outer ends of the two first movable sheets. Two first stators are respectively arranged at positions corresponding to the two first rotating sheets, an annular third stator of the third driving device is fixed in an inner hole of the permanent magnet, and a third rotor is arranged in a third stator. The structure of the second driving device and the connecting relationship between the second driving device and the permanent magnet are the same with those of the first driving device. Each driving device of the present invention can be arranged within a certain acting angle range, and the present invention can easily obtain large torque and large output by utilizing a common motor which adopts the permanent magnet, namely, a so called brushless DC motor.
Description
Technical field: the present invention relates to a kind of electric driver, the particularly a kind of electric driver that can realize the multiple degrees of freedom action.
Background technology: existing multiple degrees of freedom drive unit has following several form: a kind of is the structure that plate shaped two-freedom stepping motor is configured to dome shape; Another kind is but that the part of the universal coupling of Three Degree Of Freedom action is assembled into the interior structure of stepping motor; Also have three groups of coil configuration that a kind of handle can produce rotating magnetic field to sphere, produce three-dimensional rotating magnetic field, and operation has the structure of the rotor of spherical secondary conductor.Above-mentioned first kind of part that can only constitute stepping motor; Second kind of drive unit can only utilize the part of mechanism, and the two will obtain the big output of big torque and all have any problem; The third is restricted on the supporting mechanism of the configuration of stator coil and rotor.
Summary of the invention: for solving the problem that can't export big torque that existing multiple degrees of freedom drive unit exists, the present invention develops a kind of multi-freedom electric motor.The present invention comprises following two technical schemes: first technical scheme comprises first drive unit 1, permanent magnet 15, the 3rd drive unit 11, output shaft 12; First drive unit 1 comprises two first stators arranging along same center line 92, two first operation strip 4 and two first revolving fragments 5, two first operation strip 4 symmetries are fixed on permanent magnet 15 both sides, two first revolving fragments 5 are connected to the outer end of two first operation strip 4, and two first stators 2 are separately positioned on the outside of two first revolving fragments 5; The 3rd drive unit is made up of the 3rd stator 13 and the third trochanter 14 of annular, the 3rd stator 13 of annular is fixed in the endoporus of permanent magnet 15, third trochanter 14 is arranged in the 3rd stator 13, output shaft 12 is fixed on the rotation place of the 3rd stator 13, the axis 12-1 of output shaft 12 and the center line of first drive unit 19 mutual perpendicular quadratures.Second technical scheme of the present invention comprises first drive unit 1, second drive unit 6, permanent magnet 15, output shaft 12; First drive unit 1 comprises two first stators arranging along same center line 92, two first operation strip 4 and two first revolving fragments 5, two first operation strip 4 symmetries are fixed on permanent magnet 15 both sides, two first revolving fragments 5 are connected to the outer end of two first operation strip 4, and two first stators 2 are separately positioned on the outside of two first revolving fragments 5; Second drive unit 6 comprises two second stators arranging along same center line 37, two second revolving fragments 8 and two second operation strip 10, the structure of second drive unit 6 and identical with first drive unit 1 with the annexation of permanent magnet 15, the center line 3 of second drive unit 6 and the center line of first drive unit 19 mutual perpendicular quadratures; Output shaft 12 is connected with permanent magnet 15, be connected with second bearing 17 by clutch shaft bearing 16 respectively between first operation strip 4 of first drive unit 1 and first revolving fragment 5 and between second operation strip 10 of second drive unit 6 and second revolving fragment 8, the pivot center of the clutch shaft bearing 16 and second bearing 17 coincides with the center line 9 of first drive unit 1 and the center line 3 of second drive unit 6 respectively.Effect of the present invention:, can be controlled at the axle head of output shaft 12 optional position of scope of the effect angle decision of electric driver by combination operation first and the second or the 3rd drive unit.And each drive unit can make the present invention become very simple structure by shared permanent magnet 15.Each drive unit can be in certain operating angle scope, and utilizing and having adopted the common motor of permanent magnet is so-called brushless DC motor, easily obtains big torque, big output.
Description of drawings: Fig. 1 is the structural representation of embodiment one, and Fig. 2 is the vertical view of embodiment two, and Fig. 3 is the A-A cutaway view of Fig. 2, and Fig. 4 is the vertical view of embodiment three, and Fig. 5 is the B-B cutaway view of Fig. 4.
Embodiment one: consult Fig. 1, present embodiment is made up of first drive unit 1, permanent magnet 15, the 3rd drive unit 11, output shaft 12; First drive unit 1 comprises two first stators arranging along same center line 92, two first operation strip 4 and two first revolving fragments 5, two first operation strip 4 symmetries are fixed on permanent magnet 15 both sides, two first revolving fragments 5 are connected to the outer end of two first operation strip 4, and two first stators 2 are separately positioned on the outside of two first revolving fragments 5; The 3rd drive unit is made up of the 3rd stator 13 and the third trochanter 14 of annular, the 3rd stator 13 of annular is fixed in the endoporus of permanent magnet 15, third trochanter 14 is arranged in the 3rd stator 13, output shaft 12 is fixed on the rotation place of the 3rd stator 13, the axis 12-1 of output shaft 12 and the center line of first drive unit 19 mutual perpendicular quadratures.The operating principle of present embodiment is: it is first operation strip 4 and the revolving fragment 5 of axis rotation that first drive unit 1 is installed with the vertical line with center line 9 by its first stator, 2 controls.The 3rd drive unit 11 applies active force for third trochanter 14 by its 3rd stator 13, can operate output shaft 12 rotations, realizes the two degrees of freedom action.Two first operation strip 4 of first drive unit 1 can be made into integrative-structure, and permanent magnet 15 is installed in the centre of first operation strip 4.
Embodiment two: consult Fig. 2, Fig. 3.Present embodiment is made up of first drive unit 1, second drive unit 6, permanent magnet 15, output shaft 12; First drive unit 1 comprises two first stators arranging along same center line 92, two first operation strip 4 and two first revolving fragments 5, two first operation strip 4 symmetries are fixed on permanent magnet 15 both sides, two first revolving fragments 5 are connected to the outer end of two first operation strip 4, and two first stators 2 are separately positioned on the outside of two first revolving fragments 5; Second drive unit 6 comprises two second stators arranging along same center line 37, two second revolving fragments 8 and two second operation strip 10, the structure of second drive unit 6 and identical with first drive unit 1 with the annexation of permanent magnet 15, the center line 3 of second drive unit 6 and the center line of first drive unit 19 mutual perpendicular quadratures; Output shaft 12 is connected with permanent magnet 15, be connected with second bearing 17 by clutch shaft bearing 16 respectively between first operation strip 4 of first drive unit 1 and first revolving fragment 5 and between second operation strip 10 of second drive unit 6 and second revolving fragment 8, the pivot center of the clutch shaft bearing 16 and second bearing 17 coincides with the center line 9 of first drive unit 1 and the center line 3 of second drive unit 6 respectively.Described first operation strip 4 is made up of last operation strip 4a and following operation strip 4b, last operation strip 4a and following operation strip 4b are disposed at the both sides up and down of the permanent magnet 15 of ring-type, first revolving fragment 5 is made up of last revolving fragment 5a and following revolving fragment 5b, clutch shaft bearing 16 is supported between revolving fragment 5a and the following revolving fragment 5b, and when clutch shaft bearing 16 was installed, should be able to make upper and lower operation strip 4a, 4b serve as that axle rotates with respect to upper and lower revolving fragment 5a, 5b with the center line 9 of first drive unit 1.And formed magnetic circuit via permanent magnet 15, operation strip 4a, revolving fragment 5a, first stator 2, following revolving fragment 5b, following operation strip 4b, permanent magnet 15.Second drive unit 6 too, when bearing 17 is installed, should be able to make upper and lower operation strip 4a, 4b serves as the axle rotation with respect to upper and lower revolving fragment 8a, 8b with the center line 3 of second drive unit 6, and forms same magnetic circuit, and the permanent magnet 15 and first drive unit are shared.Two first operation strip of first drive unit 1 and two second operation strip 10 of second drive unit 6 can be made integrative-structure, and permanent magnet 15 is installed in its centre.Below its action is described.If first stator 2 of first drive unit applies active force for first revolving fragment 5, first operation strip 4 and first revolving fragment 5 serve as the axle rotation with center line 3 simultaneously.At this moment, first operation strip 4 is by being installed in the bearing rotation on second drive unit 6, and second stator 7 and the relative position between second revolving fragment 8 of second drive unit are constant.Equally, if second stator 7 of second drive unit applies active force for second revolving fragment 8, first stator 2 and the relative position between first revolving fragment 5 of first drive unit are constant, and operation strip 10 serves as the axle rotation with center line 9.Thereby by combination operation two drive units, can make first operation strip 4 produce three-dimensional displacement, for example, if vertical output shaft 12 is installed on the intersection point of center line 3,9, then move on the sphere that the axle head of output shaft 12 can determine in the maximum effect angle by two drive units.And, if can stretch output shaft, then can make axle head arrive the interior optional position of cone of connection sphere and action center point.And if on operation strip 4 the intersection point place of two drive unit output shaft center lines, configuration has the 3rd rotation shape drive unit 11 of vertical output axle, then output shaft can easily move in broader position range.
Embodiment three: consult Fig. 4, Fig. 5.What present embodiment and embodiment two were different is to increase the 3rd drive unit 11 is arranged, the 3rd drive unit 11 is made up of the 3rd stator 13 and the third trochanter 14 of annular, the 3rd stator 13 of annular is fixed in the endoporus of permanent magnet 15, third trochanter 14 is arranged in the 3rd stator 13, output shaft 12 is fixed on the rotation place of third trochanter 14, the center line 3 perpendicular quadratures of the axis 12-1 of output shaft 12 and the center line 9 of first drive unit 1 and second drive unit 6.The intersection point of present embodiment first and second drive unit center line on first operation strip 4 is installed the 3rd drive unit 11 with vertical rotating shaft, applies active force for third trochanter 14 by its 3rd stator 13, can operate output shaft 12 rotations.The 3rd stator 13 of the 3rd drive unit is installed in the internal side diameter of operation strip 4, and formed via permanent magnet 15, last operation strip 4a, the 3rd stator 13a on top, third trochanter 14, the 3rd stator 13b of bottom, operation strip 4b, the magnetic circuit of permanent magnet 15, permanent magnet 15 is shared by first and second drive unit, if apply active force for third trochanter 14 by the 3rd stator 13, make its rotation, then by the combination operation first and second drive unit, can make the axle head of the output shaft 12 that is installed on the third trochanter 14, easily arrive broader position range.
More than, the embodiment that has assembled the annular permanent-magnet body of the present invention is illustrated, if being carried out suitable cutting apart also, permanent magnet can obtain same effect.And as first, second and the 3rd drive unit, be to be the explanation that example is carried out, be not limited only to this,, also can obtain same effect certainly even utilize other servomotor with so-called hybrid type stepping motor.First drive unit 1 is all arranged in above execution mode,, itself and second drive unit 6 and the 3rd drive unit 11 are not disturbed mutually, and realized multivariant motion jointly because its rational structure is provided with.
Claims (4)
1, multi-freedom electric motor is characterized in that it comprises first drive unit (1), permanent magnet (15), the 3rd drive unit (11), output shaft (12); First drive unit (1) comprises two first stators (2), two first operation strip (4) and two first revolving fragments of arranging along same center line (9) (5), two first operation strip (4) symmetry is fixed on permanent magnet (15) both sides, two first revolving fragments (5) are connected to the outer end of two first operation strip (4), and two first stators (2) are separately positioned on the outside of two first revolving fragments (5); The 3rd drive unit is made up of the 3rd stator (13) and the third trochanter (14) of annular, the 3rd stator (13) of annular is fixed in the endoporus of permanent magnet (15), third trochanter (14) is arranged in the 3rd stator (13), output shaft (12) is fixed on the rotation place of the 3rd stator (13), the axis (12-1) of output shaft (12) and the mutual perpendicular quadrature of the center line (9) of first drive unit (1).
2, multi-freedom electric motor is characterized in that comprising first drive unit (1), second drive unit (6), permanent magnet (15), output shaft (12); First drive unit (1) comprises two first stators (2), two first operation strip (4) and two first revolving fragments of arranging along same center line (9) (5), two first operation strip (4) symmetry is fixed on permanent magnet (15) both sides, two first revolving fragments (5) are connected to the outer end of two first operation strip (4), and two first stators (2) are separately positioned on the outside of two first revolving fragments (5); Second drive unit (6) comprises two second stators (7), two second revolving fragments (8) and two second operation strip (10) of arranging along same center line (3), the structure of second drive unit (6) and identical with first drive unit (1) with the annexation of permanent magnet (15), the center line (3) of second drive unit (6) and the mutual perpendicular quadrature of the center line (9) of first drive unit (1); Output shaft (12) is connected with permanent magnet (15), be connected with second bearing (17) by clutch shaft bearing (16) respectively between first operation strip (4) of first drive unit (1) and first revolving fragment (5) and between second operation strip (10) of second drive unit (6) and second revolving fragment (8), the pivot center of clutch shaft bearing (16) and second bearing (17) coincides with the center line (9) of first drive unit (1) and the center line (3) of second drive unit (6) respectively.
3, multi-freedom electric motor according to claim 2, it is characterized in that described first operation strip (4) is made up of last operation strip (4a) and following operation strip (4b), last operation strip (4a) and following operation strip (4b) are disposed at the both sides up and down of the permanent magnet (15) of ring-type, first revolving fragment (5) is made up of last revolving fragment (5a) and following revolving fragment (5b), and clutch shaft bearing (16) is supported between revolving fragment (5a) and the following revolving fragment (5b).
4, multi-freedom electric motor according to claim 2, it is characterized in that increasing the 3rd drive unit (11) is arranged, the 3rd drive unit (11) is made up of the 3rd stator (13) and the third trochanter (14) of annular, the 3rd stator (13) of annular is fixed in the endoporus of permanent magnet (15), third trochanter (14) is arranged in the 3rd stator (13), output shaft (12) is fixed on the rotation place of third trochanter (14), the perpendicular quadrature of center line (3) of the axis (12-1) of output shaft (12) and the center line (9) of first drive unit (1) and second drive unit (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031324347A CN1293693C (en) | 2003-06-12 | 2003-06-12 | Multiple freedom degree motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031324347A CN1293693C (en) | 2003-06-12 | 2003-06-12 | Multiple freedom degree motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1458732A CN1458732A (en) | 2003-11-26 |
| CN1293693C true CN1293693C (en) | 2007-01-03 |
Family
ID=29430595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031324347A Expired - Fee Related CN1293693C (en) | 2003-06-12 | 2003-06-12 | Multiple freedom degree motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1293693C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101879721B (en) * | 2010-06-30 | 2011-10-19 | 哈尔滨工业大学 | Four-degree-of-freedom integrated robot joint mechanism |
| CN102237834B (en) * | 2011-03-25 | 2013-10-23 | 哈尔滨工业大学 | MDOF (multiple-degree-of-freedom) magnetic suspension motor |
| CN109453928B (en) * | 2019-01-08 | 2020-11-24 | 河北科技大学 | Spraying equipment based on multi freedom motor |
| CN109955237A (en) * | 2019-04-30 | 2019-07-02 | 深圳市爱因派科技有限公司 | Two degrees of freedom supersonic motor steering engine and robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07298593A (en) * | 1994-04-20 | 1995-11-10 | Fujitsu General Ltd | Brushless motor |
| JP2001339923A (en) * | 2000-05-24 | 2001-12-07 | Matsushita Electric Ind Co Ltd | Motor |
| CN2627721Y (en) * | 2003-06-12 | 2004-07-21 | 哈尔滨工业大学 | Multiple degree of freedom motor |
-
2003
- 2003-06-12 CN CNB031324347A patent/CN1293693C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07298593A (en) * | 1994-04-20 | 1995-11-10 | Fujitsu General Ltd | Brushless motor |
| JP2001339923A (en) * | 2000-05-24 | 2001-12-07 | Matsushita Electric Ind Co Ltd | Motor |
| CN2627721Y (en) * | 2003-06-12 | 2004-07-21 | 哈尔滨工业大学 | Multiple degree of freedom motor |
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| Publication number | Publication date |
|---|---|
| CN1458732A (en) | 2003-11-26 |
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Granted publication date: 20070103 Termination date: 20120612 |