CN201403041Y - Three-freedom-degree motion permanent magnetic spherical stepping motor - Google Patents
Three-freedom-degree motion permanent magnetic spherical stepping motor Download PDFInfo
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- CN201403041Y CN201403041Y CN2009201727770U CN200920172777U CN201403041Y CN 201403041 Y CN201403041 Y CN 201403041Y CN 2009201727770 U CN2009201727770 U CN 2009201727770U CN 200920172777 U CN200920172777 U CN 200920172777U CN 201403041 Y CN201403041 Y CN 201403041Y
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Abstract
The utility model relates to a three-freedom-degree motion permanent magnetic spherical stepping motor, which is characterized in that permanent magnet slots are distributed on the spherical shell ofa hollow rotor; coil holes are distributed on the spherical shell of a stator on the periphery of a spherical rotor; stator winding coils are arranged in the coil holes; an output shaft is fixedly connected with the spherical shell of the hollow rotor; on the periphery of the spherical shell of the stator, a semispherical shell is fixedly arranged on the output shaft; the center of sphere of the shell coincides with the center of sphere of the spherical shell of the hollow rotor; and a coding pattern is arranged on the surface of the shell. The three-freedom-degree motion permanent magnetic spherical stepping motor utilizes a spherical rotor structure to realize the three-freedom-degree motion, is capable of using a machine vision method to detect the position of the rotor, and resolves the problem of the difficult detection of the position of the rotor of the spherical motor; meanwhile, the three-freedom-degree motion permanent magnetic spherical stepping motor is also capable of utilizing the obtained position of the rotor to carry out feedback control on the motor, thereby simplifying a three-freedom-degree mechanical structure and improving dynamic performance and static performance as well as control accuracy of a system.
Description
Technical field
The utility model relates to spherical step motor, more specifically say so and a kind ofly utilize the interaction of hot-wire coil winding on the permanent magnet that distributes on the rotor and the stator to make rotor produce the permanent magnetic spherical step motor of three-degree-of-freedom motion, be mainly used in the technical fields such as Aeronautics and Astronautics, robot, bionics.
Background technology
Realize multifreedom motion, conventional method often needs many single-degree-of-freedom drive motors to realize, thereby causes that whole system is bulky, poor reliability, not high, the inefficiency of precision.Globular motor is compared with traditional multiple degrees of freedom transmission mechanism, and it is simple in structure, volume is little, in light weight, is widely used in the transmission field such as joint, globe valve, panoramic shooting The Cloud Terrace, comprehensive transport establishment of robot.
Deepening continuously and the raising of new material and manufacturing technology level of the development of computer technology, power electronic technology, control theory and electric machine theory research is for the development of multidimensional motor provides firm basis.At the problem that the multiple degrees of freedom drive system exists, the expert proposes and has studied the globular motor of multiple version both at home and abroad.Along with the growing of permanent magnetic material and the extensive use in motor, permanent magnetic material is also introduced the ball-type motor gradually, and the spherical motor that occurs mainly contains following several structure at present:
1, induction type globular motor
2, become the magnetic resistance type globular motor
3, permanent magnetic spherical step motor
4, surface coverage magnet steel formula permanent magnet spherical motor
5, Halbach array permanent magnetism sphericity synchronous motor
Above-mentioned the 1st kind of structure rotor all adopts distributed winding, the electric machine structure complexity, and servo performance is limited by induction machine; The 2nd kind of structure ferromagnetic material or magnetic pole embed spherical spinner, and stator adopts concentrates winding construction, and rotor magnetic pole distributes or evenly distributes at sphere according to the regular polygon vertex position; The 3rd kind of structure rotor all adopts column construction, and distributing position will require to carry out corresponding conformability according to rotor motion and calculate, and stepping angle and rotor magnetic pole are combined with the pass; The 4th kind of structure spherical motor surface coverage cambered surface magnet steel adopts 112 magnetic poles, and 96 windings of stator, rotor adopt fluid bearing to support the control system complexity; Halbach array distribution permanent magnet is pressed on the 5th kind of construction rotor surface, has weakened the magnetic field influence of harmonic, and magnet steel cambered surface processing technology complexity still is in conceptual phase at present.Because this motor rotor is done space three-dimensional motion, more than the spherical motor of several versions all have the problem of rotor position detection difficulty.Traditional contact sliding rail rack measuring system has increased frictional resistance, influences the dynamic response and the positioning accuracy of rotor.
The utility model content
The utility model is for avoiding above-mentioned existing in prior technology weak point, a kind of three-degree-of-freedom-motion permanent magnetic spherical step motor being provided.Realize three-degree-of-freedom motion with the spherical spinner structure, and can utilize the method for machine vision that rotor-position is detected, solve the problem of globular motor rotor position detection difficulty.Simultaneously can utilize the rotor-position that is obtained that motor is carried out FEEDBACK CONTROL, thereby simplify the Three Degree Of Freedom mechanical device structure, improve the dynamic and static state performance and the control precision of system.
The utility model technical solution problem adopts following technical scheme:
The utility model three-degree-of-freedom-motion permanent magnetic spherical step motor, design feature of the present utility model is:
Spherical spinner is to make spherical hollow rotor housing by non-magnet_conductible material, on spherical hollow rotor housing, by waiting longitude and the permanent magnet trough that is intervally distributed with that waits latitude, the cylindric permanent magnet that radially is provided with along spherical hollow rotor housing in the adjacent permanent magnet groove is interspersed with the N utmost point and the S utmost point;
Be distributed with on the stator spherical shell of spherical spinner periphery according to the equally distributed lattice coil of latitudes such as sphere hole being positioned at, the stator winding coil adjustable with the radial distance of spherical hollow rotor housing is arranged in each coil hole;
Output shaft passes spherical spinner yoke top and spherical hollow rotor housing is connected; Be positioned at the periphery of stator spherical shell, fixedly install hemispherical shell on output shaft, the centre of sphere of shell and the centre of sphere of spherical hollow rotor housing coincide, and the surface at shell is provided with coding pattern.
The design feature of the utility model three-degree-of-freedom-motion permanent magnetic spherical step motor also is:
Fixedly install the stator spherical shell between base and end cap,, bottom ring-type ball bearing and end cap annular ball bearing are set in opposite directions hold, between ring-type ball bearing and end cap annular ball bearing held bottom spherical hollow rotor housing was bearing in the central authorities of base and end cap; The adjustable height of bottom ring-type ball bearing in base.
It is to be interlocked by upper hemispherical shell and lower hemisphere shell to constitute that spherical hollow rotor housing is set.
In the permanent magnet trough of spherical hollow rotor housing, the permanent magnet end cap that is threaded is set, permanent magnet is fixed in the permanent magnet trough by the permanent magnet end cap, and with resin-sealed end cap slit, in the bottom of permanent magnet stage clip is set.
The operation principle of the utility model motor is: in the spherical motor air gap, and the magnetic field interaction that the magnetic field that permanent magnet produces in the spherical spinner and the stator winding coil of energising produce, the torque that can produce any direction makes rotor move to target direction.At on spherical hollow rotor housing, permanent magnet by wait longitude and etc. Latitude Distribution be four layers, every layer distributes ten, totally four ten cylinder permanent magnets are 40 utmost points; Stator winding coil in the stator spherical shell is set to two-layer, and every layer is distributed with 12, totally two ten four utmost points.Every stator winding coil is controlled by independent drive circuit.Adopt the method for machine vision, when utilizing vision sensor to obtain rotor to be positioned at current location, be sprayed on the pattern on the shell, calculate rotor-position by sensor parameters matrix, the pattern-information that obtains.And according to the next target location of this position and planning, the electric current by each stator winding coil of accurate control drives spherical spinner, realizes the step motion of motor.In the output shaft range of movement, realize that by path planning and segmentation the spherical step motor rotor rotatablely moves around arbitrary axis, thereby realize the setting movement of load optional position.
Compared with the prior art, the utility model beneficial effect is embodied in:
1, the utility model is realized three-degree-of-freedom motion with the spherical spinner structure, can replace traditional multiple degrees of freedom transmission mechanism, is widely used in transmission fields such as joint of robot, globe valve, panoramic shooting The Cloud Terrace, comprehensive transport establishment.Can effectively reduce the transmission mechanism volume, the dynamic and static state performance of simplified structure, raising system.
2, the utility model adopts Machine Vision Detection spherical spinner position, can effectively avoid in the guide tracked measuring system of traditional contact because the frictional resistance that contacts and bring with rotor, improves the dynamic response and the positioning accuracy of rotor.Simple in measurement system structure, the precision height.
3, in the utility model stator winding coil and rotor permanent magnet all by etc. warp and etc. latitude distribute, each stator winding coil drives by an independent current controller.According to the electric current and the direction of a plurality of coils that calculate needs control, thereby the output of control motor torque realizes the path step motion of spherical electric motor rotor according to planning, and its advantage is the output torque that the conducting simultaneously of multi-thread circle can effectively increase motor.This step motion control mode can be done three-degree-of-freedom motion around the centre of sphere by the realization rotor under the prerequisite that guarantees precision.
4, the utility model spherical hollow rotor housing is that hemispherical Shell by two hollows constitutes, and adopts hollow-core construction can effectively reduce rotor moment of inertia, has improved the response speed of motor.
5, the utility model can make stator and geometric center of rotor registration improve by adjusting the height of base circle ball bearing in base, and then improves the installation accuracy of rotor.
6, the utility model can be regulated the size of gaps between stator and the rotor by adjusting the radial position of stator winding coil in coil hole, scalable unicoil output torque, the flexibility that has improved design of electrical motor.
Description of drawings
Fig. 1 is the utility model Three Degree Of Freedom permanent magnetic spherical step motor structural representation.
Fig. 2 is the utility model spherical spinner structural representation.
Fig. 3 is the utility model permanent magnet and mounting means structural representation thereof.
Fig. 4 is the utility model stator structure schematic diagram.
Fig. 5 is the utility model place kick shell structure schematic diagram.
Number in the figure: 1 spherical hollow rotor housing, 2 stator spherical shells; 3 stator winding coils; 4 shells; 5 flanges; 6 output shafts; 7 bases; 8 base circle ball bearings; 9 stator end caps; 9a end cap annular ball bearing holds; 10 tight a bolt; 11 hold-down nuts; 12 permanent magnet trough; 13 permanent magnet end caps; 14 permanent magnets; 15 stage clips; 16 alignment pins; 17 coil bolts; 18 coding patterns.
Below by embodiment, the utility model is described in further detail in conjunction with the accompanying drawings.
Embodiment
Referring to Fig. 1, Fig. 2, in order to reduce moment of inertia, in spherical spinner, upper hemispherical shell of being made by non-magnet_conductible material and lower hemisphere shell interlock and constitute spherical hollow rotor housing 1, be fixed on the output shaft 6 tight a bolt 10 and alignment pin 16 upper hemispherical shell and lower hemisphere shell are stitched together.
On spherical hollow rotor housing 1, by waiting longitude and the four layers of permanent magnet trough 12 that are intervally distributed with that wait latitude, the cylindric permanent magnet 14 that radially is provided with along spherical hollow rotor housing 1 in the adjacent permanent magnet groove 12 is interspersed with the N utmost point and the S utmost point; Be fixed on adjustable for height bottom ring-type ball bearing 8 on the base 7 and be bearing in the bottom of spherical hollow rotor housing 1, bottom ring-type ball bearing 8 is made by non-magnet material, spherical spinner is that a plurality of locational points contact with bottom ring-type ball bearing, can reduce therebetween frictional resistance with this.
Referring to Fig. 1 Fig. 4, fixedly connected with base 7 by screwed hole at the stator spherical shell that is positioned at the spherical spinner periphery, the distribution form of the coil hole on the stator spherical shell 2 is, be evenly distributed with two-layer according to latitudes such as spheres, every layer is had only 12, according to waiting latitude spaced apart and form symmetry, have 24 coil hole about the equator of stator spherical shell; Stator winding coil 3 is arranged in each coil hole by coil bolt 17, stator winding coil 3 can be adjusted by the adjustment of coil bolt 17 with the radial distance of spherical hollow rotor housing 1, regulate size of gaps between stator and the rotor with this, the end cap annular ball bearing that fixedly installs the top that is used to be pressed on spherical hollow rotor housing 1 in the bottom of stator end cap 9 holds 9a, be used for preventing that the spherical spinner motion process from shaking, the end cap annular ball bearing holds 9a and is set to loop configuration, to guarantee the free movement of output shaft 6, realize the operation of spherical spinner bringing onto load.
Referring to Fig. 1, Fig. 3, the output shaft 6 that the end is provided with flange 5 passes spherical spinner yoke top and sleeve rotor shell 1 is connected; In the permanent magnet trough 12 of spherical hollow rotor housing 1, the permanent magnet end cap 13 that setting is threaded, permanent magnet 14 is fixed in the permanent magnet trough 12 by permanent magnet end cap 13, and with resin-sealed end cap slit, to reduce the frictional resistance of rotor and bottom ring-type ball bearing 8, be provided with stage clip 15 in the bottom of permanent magnet 14.
Referring to Fig. 1, Fig. 3 and Fig. 5, be positioned at the periphery of stator spherical shell 2, on output shaft 6, fixedly install hemispherical shell 4, the centre of sphere of the centre of sphere of shell 4 and spherical hollow rotor housing 1 coincides, and shell 4 is coated with coding pattern 18 for plastic member, surface.
The corresponding structure setting also comprises in concrete the enforcement:
Cylindric permanent magnet 14 is to make with the NdFeB material sintering, and the direction high along its cylinder magnetizes, and each permanent magnet is a magnetic pole; Stator winding coil 3 adopts column structure, with the enamelled wire coiling.
Relevant control is according to the movement locus of being divided with by the position of the measured current spherical spinner of machine vision, accurately control the electric current in the stator winding coil, thereby drive spherical spinner and do step motion, realize that the spherical spinner output shaft moves within the specific limits.
The control rotor is as follows to position B process from position A step motion: rotor is when the A of position, and vision sensor obtains the secondary pattern on the shell 4.Obtain the pixel coordinate of pattern characteristics point by image processing.Utilize the parameter matrix of position relation, pixel coordinate and vision sensor between characteristic point to obtain characteristic point on the spherical spinner and the coordinate under the space coordinates, calculate with the hypercomplex number method and can obtain the rotor-position spin matrix, the positional information when promptly obtaining rotor and being in position A.Utilize the positional information at good torque curved surface of calculating and position A, B place, computation of table lookup needing to obtain the current value of coil.After step motion was finished, whether the method detection rotor that adopts above-mentioned machine vision equally in-position B.If site error surpasses setting, adjust the coil current value.
Claims (4)
1, three-degree-of-freedom-motion permanent magnetic spherical step motor is characterized in that:
Spherical spinner is to make spherical hollow rotor housing (1) by non-magnet_conductible material, on described spherical hollow rotor housing (1), be intervally distributed with permanent magnet trough (12) by what wait longitude and wait latitude, the cylindric permanent magnet (14) that radially is provided with along spherical hollow rotor housing (1) in the adjacent permanent magnet groove (12) is interspersed with the N utmost point and the S utmost point;
Be distributed with according to the equally distributed lattice coil of latitudes such as sphere hole being positioned on the stator spherical shell (2) of spherical spinner periphery, the stator winding coil (3) adjustable with the radial distance of spherical hollow rotor housing (1) is arranged in each coil hole;
Output shaft (6) passes spherical spinner yoke top and spherical hollow rotor housing (1) is connected; Be positioned at the periphery of stator spherical shell (2), fixedly install hemispherical shell (4) on described output shaft (6), the centre of sphere of the centre of sphere of described shell (4) and spherical hollow rotor housing (1) coincides, and the surface in described shell (4) is provided with coding pattern (18).
2, three-degree-of-freedom-motion permanent magnetic spherical step motor according to claim 1, it is characterized in that fixedly installing described stator spherical shell (2) between base (7) and end cap (9), central authorities at described base (7) and end cap (9), bottom ring-type ball bearing (8) and end cap annular ball bearing are set in opposite directions hold (9a), described spherical hollow rotor housing (1) is bearing in described bottom ring-type ball bearing (8) and the end cap annular ball bearing holds between (9a); The adjustable height of described bottom ring-type ball bearing (8) in base (7).
3, three-degree-of-freedom-motion permanent magnetic spherical step motor according to claim 1, it is characterized in that being provided with spherical hollow rotor housing (1) is to be interlocked by upper hemispherical shell and lower hemisphere shell to constitute.
4, three-degree-of-freedom-motion permanent magnetic spherical step motor according to claim 1, it is characterized in that in the permanent magnet trough (12) of described spherical hollow rotor housing (1), the permanent magnet end cap (13) that setting is threaded, described permanent magnet (14) is fixed in the permanent magnet trough (12) by permanent magnet end cap (13), and, stage clip (15) is set in the bottom of described permanent magnet (14) with resin-sealed end cap slit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201727770U CN201403041Y (en) | 2009-04-21 | 2009-04-21 | Three-freedom-degree motion permanent magnetic spherical stepping motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201727770U CN201403041Y (en) | 2009-04-21 | 2009-04-21 | Three-freedom-degree motion permanent magnetic spherical stepping motor |
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| Publication Number | Publication Date |
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| CN201403041Y true CN201403041Y (en) | 2010-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201727770U Expired - Lifetime CN201403041Y (en) | 2009-04-21 | 2009-04-21 | Three-freedom-degree motion permanent magnetic spherical stepping motor |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259342A (en) * | 2011-06-03 | 2011-11-30 | 扬州大学 | Inductive magnetic-suspension spherical driving joint |
| CN103051143A (en) * | 2012-12-07 | 2013-04-17 | 深圳大学 | Spherical motor and robot |
| CN103997188A (en) * | 2014-06-05 | 2014-08-20 | 东南大学 | Spherical machine electricity energy converter |
| CN108155770A (en) * | 2016-12-05 | 2018-06-12 | 霍尼韦尔国际公司 | The control system and method for Three Degree Of Freedom electromagnetic machine |
| WO2018214162A1 (en) * | 2017-05-26 | 2018-11-29 | 深圳市大疆创新科技有限公司 | Action camera |
| CN109802594A (en) * | 2019-01-31 | 2019-05-24 | 河北科技大学 | Multifreedom motion motor |
| CN110112887A (en) * | 2019-06-04 | 2019-08-09 | 刘吉柱 | A kind of globular motor for robot integral joint structure |
| CN110224566A (en) * | 2019-06-21 | 2019-09-10 | 安徽大学 | A kind of three degree of freedom spherical motor using simplified Halbach permanent array |
| CZ308528B6 (en) * | 2018-12-12 | 2020-10-29 | České vysoké učenà technické v Praze | 3D stepper motor |
| TWI719585B (en) * | 2019-08-14 | 2021-02-21 | 張量科技股份有限公司 | Motor and driving method the same |
| US10976647B2 (en) | 2017-05-26 | 2021-04-13 | SZ DJI Technology Co., Ltd. | Method and system for motion camera with embedded gimbal |
| CN113381527A (en) * | 2021-06-04 | 2021-09-10 | 杭州电子科技大学 | Three-freedom-degree spherical motor |
-
2009
- 2009-04-21 CN CN2009201727770U patent/CN201403041Y/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259342A (en) * | 2011-06-03 | 2011-11-30 | 扬州大学 | Inductive magnetic-suspension spherical driving joint |
| CN103051143A (en) * | 2012-12-07 | 2013-04-17 | 深圳大学 | Spherical motor and robot |
| CN103051143B (en) * | 2012-12-07 | 2015-08-19 | 深圳大学 | spherical motor and robot |
| CN103997188A (en) * | 2014-06-05 | 2014-08-20 | 东南大学 | Spherical machine electricity energy converter |
| CN108155770A (en) * | 2016-12-05 | 2018-06-12 | 霍尼韦尔国际公司 | The control system and method for Three Degree Of Freedom electromagnetic machine |
| WO2018214162A1 (en) * | 2017-05-26 | 2018-11-29 | 深圳市大疆创新科技有限公司 | Action camera |
| US10976647B2 (en) | 2017-05-26 | 2021-04-13 | SZ DJI Technology Co., Ltd. | Method and system for motion camera with embedded gimbal |
| CZ308528B6 (en) * | 2018-12-12 | 2020-10-29 | České vysoké učenà technické v Praze | 3D stepper motor |
| CN109802594A (en) * | 2019-01-31 | 2019-05-24 | 河北科技大学 | Multifreedom motion motor |
| CN109802594B (en) * | 2019-01-31 | 2023-10-13 | 河北科技大学 | Multi-freedom-degree motion motor |
| CN110112887A (en) * | 2019-06-04 | 2019-08-09 | 刘吉柱 | A kind of globular motor for robot integral joint structure |
| CN110224566A (en) * | 2019-06-21 | 2019-09-10 | 安徽大学 | A kind of three degree of freedom spherical motor using simplified Halbach permanent array |
| TWI719585B (en) * | 2019-08-14 | 2021-02-21 | 張量科技股份有限公司 | Motor and driving method the same |
| CN113381527A (en) * | 2021-06-04 | 2021-09-10 | 杭州电子科技大学 | Three-freedom-degree spherical motor |
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Granted publication date: 20100210 |
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| CX01 | Expiry of patent term |