CN201536310U - Magnetic suspension spherical magnetic-resistance electric motor - Google Patents
Magnetic suspension spherical magnetic-resistance electric motor Download PDFInfo
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- CN201536310U CN201536310U CN2009200390308U CN200920039030U CN201536310U CN 201536310 U CN201536310 U CN 201536310U CN 2009200390308 U CN2009200390308 U CN 2009200390308U CN 200920039030 U CN200920039030 U CN 200920039030U CN 201536310 U CN201536310 U CN 201536310U
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Abstract
A magnetic suspension spherical magnetic-resistance electric motor belongs to the technical field of motors, which comprises a bearing base of the electric motor, a stator, a spherical rotor, a rotary spindle and a detecting and controlling system, wherein the base is fixed with the stator integrally, and the inner part of the stator takes the shape of an open endosphere surface; the spherical rotor is fixed with the rotary spindle integrally, and the rotary spindle extends outwards from the opening part of the stator; at least two electromagnet clamping mechanisms and a plurality of sensors for detecting the position and movement speed of the rotor are arranged on the stator; and the detecting and controlling system is provided with a DSP digital controller for controlling the suspension and the rotation posture as well as the speed of the rotor of the electric motor, a driving circuit, an inverter, a rectification and voltage stabilizing circuit, a sensor and a signal processing circuit. The utility model has the advantages of simple, reasonable, and compact structure, good dynamic performance and quick response speed, and no friction and abrasion between the spherical rotor and the stator of the electric motor.
Description
Technical field
The utility model relates to a kind of multiple degrees of freedom with supporting driving function does not have the bearing electric motor system, belongs to technical field of motors.
Background technology
The multi-degree of freedom spherical motor refers to have two or three rotary freedoms, can walk around the spatial axis motor rotating of fixed point.It has characteristics such as mechanical integrated level height, electric machine structure material and driving control system element utilance height, in having the mechanical system of a plurality of freedoms of motion, a multi-freedom electric motor can replace two or many single-degree-of-freedom motors, simplify the structure of mechanical system greatly, reduce volume and weight, can eliminate because shortcomings such as backlash that gear drive brings and frictions, thereby improve the precision and the dynamic property of system, improve the ratio of performance to price, and taking advantage aspect control and the trajectory planning.Therefore the multi-degree of freedom spherical motor is with a wide range of applications in the universal wheel of the joint of the joint of robot and manipulator, multi-coordinate machining center, the capable device of the big altar of boat, electric gyro, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medicine equipment, camera operation platform, panoramic shooting operating desk, mixer, travel mechanism, globe valve, ball pump etc. have the equipment of a plurality of freedoms of motion.But the supporting structure complexity of each rotor of existing globular motor, is waved with the angle of deflection for a short time at the rotor pitching, is subjected to application limitations.When being used for driving high speed, superfast multiple degrees of freedom device, the wear problem that also has machinery (bearing) supporting, mechanical friction has not only increased the frictional resistance of rotor, and can cause the parts heating, can cause motor gas-gap inhomogeneous when serious, the dynamic characteristic variation that causes motor, thereby reduction efficiency of motor, shorten the useful life of motor and equipment, seriously restricting spherical motor and developing to the more speed direction, the performance of bearing has influenced the reliability and the equipment utilance of motor greatly.
The utility model content
The purpose of this utility model is the problems referred to above that exist at existing multiple degrees of freedom motor, based on magnetic levitation technology and motor technology, provide a kind of mechanical integrated level height, simple in structure, do not have friction, do not have wearing and tearing, precision is high and dynamic property is good has multivariant magnetic suspension spherical reluctance motor.
The purpose of this utility model is to realize like this, the magnetic suspension spherical reluctance motor, support plinth, stator, spherical spinner and the rotating spindle, the detection control system that comprise motor, it is characterized in that base and stator are fixed as one, stator interior is shaped as the endosphere surface of an opening, spherical spinner and rotating spindle are fixed as one, and rotating spindle stretches to the outside by the stator openings place; When the two is concentric, there is certain air gap (gap) between stator endosphere surface and the rotor ectosphere surface; On stator, be furnished with the transducer of at least two electromagnet fixtures and plurality of detection rotor-position movement velocity; Detect control system and be provided with DSP digitial controller, drive circuit, inverter, regulator rectifier circuit, transducer, the signal processing circuit that the control motor rotor suspends and rotates attitude and speed.
The stator of described motor is made by the material with good magnetic property, its endosphere surface is for having the spherical interior enveloping surface of groove, groove is divided into whole endosphere surface the stator salient poles of the identical small elemental area of geometry, being parallel to the centre of sphere is in the groove on each three-dimensional coordinate plane of the origin of coordinates, is respectively equipped with main winding and auxiliary winding.Main winding is used to produce rotating torques, the magnetic field mutual superposition that magnetic field that auxiliary winding forms and main winding form produces the radial load that acts on the spherical spinner, make rotor realize suspending, to realize to the radially stable suspersion of spherical spinner and the driving of three rotary freedom directions.
The spherical spinner of described motor is made by the material with good magnetic property, and its ectosphere surface has vertical and continuous groove mutually, and groove is divided into whole ectosphere surface the rotor with salient pole of the identical small elemental area of geometry.
The electromagnet fixture of described motor is made up of electromagnet core, coil windings, clamping armature and spring, and clamping armature is in clamp position or releasing orientation under spring force or electromagnetic force effect.Under the spring force effect, be not in clamp position when motor is not worked, under the electromagnetic force effect, be in releasing orientation during motor work.
The effect that detects control system is to be core with single-chip microcomputer DSP digitial controller, be used for finishing to the sampling of motor spherical spinner posture position, speed and calculating in real time, control to motor spherical spinner posture position and speed and motor stator winding current, and the shutoff and the conducting that produce the device for power switching of PWM control wave drive controlling inverter, thereby make electric current provide electric current to stator winding, realize functions such as suspension of supporting motor rotor and rotation to produce magnetic field by inverter through the voltage stabilizing rectification; Transducer comprises each transducer, rotational speed sensor and the winding current transducer etc. of detection rotor radial displacement; Signal processing circuit realizes that rotor-position and rotating speed detect, functions such as current signal detection and preliminary treatment.
The utility model integrated application magnetic levitation technology and motor technology are realized the suspension supporting of no bearing and are driven spherical rotor rotation.In the motor course of work, by the transducer position and attitude of detection rotor (radial displacement and tangential displacement) constantly, and institute's detection signal modulated, amplify, demodulation, signal processing such as filtering, the rotor-position attitude signal of handling is carried out A/D conversion and the comparison of and instruction signal by the DSP digitial controller, and the computing of doing control algolithm, be converted to two groups of pwm pulse control signals that control suspends and control is rotated, remove to control inverter separately, source current through the voltage stabilizing rectification is changed with pwm pulse signal, regulate the electromagnetism radial suspension magnetic force that electromagnetic torque that the main winding of motor stator produces and auxiliary winding produce respectively, with control motor spherical spinner stable suspersion and according to given angular displacement or angular speed instruction rotation.
The utility model is simple and reasonable for structure, compact, integrated application magnetic levitation technology and motor technology are realized the suspension supporting of no bearing and are driven spherical rotor rotation, realize between the spherical spinner of motor and the stator of motor not having friction, not having wearing and tearing, dynamic property is good, and response speed is fast.Improve efficiency of motor, prolong the useful life of motor and equipment.In having the equipment of a plurality of freedoms of motion, the universal wheel of the joint of the joint of robot and manipulator, multi-coordinate machining center, the capable device of the big altar of boat, electric gyro, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medicine equipment, camera operation platform, panoramic shooting operating desk, mixer, travel mechanism, globe valve, ball pump etc. have good application prospects.
Description of drawings
Fig. 1 is a contour structures schematic diagram of the present utility model;
Fig. 2 is a structural representation of the present utility model;
Fig. 3 is stator of the present utility model, the rotor schematic cross-section at certain coordinate surface.
Among the figure: 1 bolt, 2 rotating spindles, 3 spherical spinners, 4 air gaps, 5 stators, 6 transducers, 7 sensor stands, 8 electromagnet fixtures, 9 bases, 10 fixed covers, 11 grooves, 12 transducers, 13 screws, 14 rotor grooves, 15 spherical spinner carriages, 16 transducers, 17 attachment screws, 18 stator salient poles, 19 auxiliary winding, 20 main windings, 21 rotor with salient pole.
Embodiment
As Fig. 1, Fig. 2, Fig. 3, shown in, the magnetic suspension spherical reluctance motor, by the support plinth 9 of motor, stator 5, spherical spinner 3, rotating spindle 2, detect control system etc. and constitute, base and stator are fixed as one, stator interior is shaped as the endosphere surface of an opening, spherical spinner and rotating spindle are fixed as one, and rotating spindle stretches to the outside by the stator openings place; When the two is concentric, there is certain air gap (gap) between stator endosphere surface and the rotor ectosphere surface; On stator, be furnished with the transducer 6,12,16 of the detection rotor position movement velocity at least two electromagnet fixtures 8 and the detection control system.Detect control system and also be provided with DSP digitial controller, drive circuit, inverter, regulator rectifier circuit, the signal processing circuit that the control motor rotor suspends and rotates attitude and speed.
The spherical motor body construction is made up of the base 1 of supporting motor, stator 5, spherical spinner 3 and the rotating spindle 2 etc. of motor.Base 1 is fixed as one by attachment screw 17 with the stator 5 of magnetic suspension (no bearing) motor, stator 5 interior shapes are the spherical inside surface (endosphere surface) of an opening, have groove 11 at inner surface, groove is divided into the identical small elemental area of geometry with whole spherical inside surface, to form endosphere surface salient pole stator (stator salient poles), being parallel to the centre of sphere is in the groove on each three-dimensional coordinate plane of the origin of coordinates, is wound with main winding 20, auxiliary winding 19 respectively.4 electromagnet fixtures 8 of maximum gauge section symmetric arrangement in the stator upper horizontal plane; On stator, be furnished with the transducer 6,12,16 of detection rotor radial displacement and anglec of rotation displacement etc.The spherical spinner 3 and the rotating spindle 2 of motor are fixed as one by fixed operating sleeve 10, and rotating spindle 2 stretches to outer end (outside) by stator 5 opening parts.When the two is concentric, there is certain air gap (gap) 4 between stator 5 endospheres surfaces and the spherical spinner 3 ectosphere surfaces.Motor spherical spinner surface has mutually vertical and continuous groove 14, and groove is divided into the rotor with salient pole of the identical small elemental area of geometry with whole ectosphere surface, to form the field spider of spherical magnetic suspension spherical reluctance motor.
Stator adopt to be concentrated winding, and main winding 20 and auxiliary winding 19 are all arranged on each stator salient poles 18, and main winding 20 is with circumferentially arranging three phase windings by the stator salient poles sequential loop, and with the homophase windings in series together.
The course of work of magnetic suspension spherical reluctance motor: when motor is in stopped status, by in the electromagnet fixture 8 under the effect of spring force, the attitude of motor spherical spinner 3 is locked in the equilbrium position.Motor is in not have to be changeed when suspending, to the rotor of the given all directions of magnetic suspension spherical magnetic-resistance motor system radial suspension command signal and the angular displacement command signal during in the equilbrium position, electromagnet fixture 8 armature unclamp spherical spinner 3 under the effect of electromagnetic force simultaneously.Command signal and transducer 6,12, the 16 rotor posture position signals that detect compare computing with control algolithm by the DSP digitial controller, and be converted to the control suspension and control two groups of pwm pulse control signals of rotating, PWM Suspension Control signal controlling inverter makes the electric current that offers stator auxiliary winding 11 through the power supply of voltage stabilizing rectification, change the suspension magnetic force of regulating supporting rotor 3 with pwm pulse signal, PWM rotation control signal control inverter make electric current that the power supply through the voltage stabilizing rectification offers stator main winding 11 with, pwm pulse signal change and the magnetic torque of regulating rotor with balance opposing external interference moment, attitude when under suspension magnetic force and magnetic torque comprehensive function spherical spinner 3 being controlled at clamp position is to reach the non-rotary stable suspersion of spherical spinner; The motor spherical spinner suspends when rotating, motor is on non-rotary stable suspersion basis, input is along the angular displacement and the rotary speed instruction signal of certain rotational freedom direction, output PWM rotation control signal after digitial controller carries out Signal Regulation, remove to regulate each power transistor of control inverter, make through the DC power supply of voltage stabilizing rectification circuit rectification and power to the motor main winding according to pwm pulse control signal rule, rotate to command request by institute to produce electromagnetic torque driving rotor by inverter.
Claims (4)
1. magnetic suspension spherical reluctance motor, support plinth, stator, spherical spinner and the rotating spindle, the detection control system that comprise motor, it is characterized in that base and stator are fixed as one, stator interior is shaped as the endosphere surface of an opening, spherical spinner and rotating spindle are fixed as one, rotating spindle stretches to the outside by the stator openings place, has certain air gap between stator endosphere surface and the rotor ectosphere surface when the two is concentric; On stator, be furnished with the transducer of at least two electromagnet fixtures and plurality of detection rotor-position movement velocity; Detect control system and be provided with DSP digitial controller, drive circuit, inverter, regulator rectifier circuit, transducer, the signal processing circuit that the control motor rotor suspends and rotates attitude and speed.
2. magnetic suspension spherical reluctance motor according to claim 1, the stator that it is characterized in that described motor is made by the material with good magnetic property, its endosphere surface is for having the spherical interior enveloping surface of groove, groove is divided into whole endosphere surface the stator salient poles of the identical small elemental area of geometry, being parallel to the centre of sphere is in the groove on each three-dimensional coordinate plane of the origin of coordinates, is respectively equipped with main winding and auxiliary winding.
3. magnetic suspension spherical reluctance motor according to claim 1, the spherical spinner that it is characterized in that described motor is made by the material with good magnetic property, its ectosphere surface has vertical and continuous groove mutually, and groove is divided into whole ectosphere surface the rotor with salient pole of the identical small elemental area of geometry.
4. magnetic suspension spherical reluctance motor according to claim 1 is characterized in that the electromagnet fixture of described motor is made of electromagnet core, coil windings, clamping armature and spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200390308U CN201536310U (en) | 2009-05-05 | 2009-05-05 | Magnetic suspension spherical magnetic-resistance electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200390308U CN201536310U (en) | 2009-05-05 | 2009-05-05 | Magnetic suspension spherical magnetic-resistance electric motor |
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| Publication Number | Publication Date |
|---|---|
| CN201536310U true CN201536310U (en) | 2010-07-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200390308U Expired - Fee Related CN201536310U (en) | 2009-05-05 | 2009-05-05 | Magnetic suspension spherical magnetic-resistance electric motor |
Country Status (1)
| Country | Link |
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| CN (1) | CN201536310U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102195537A (en) * | 2011-06-03 | 2011-09-21 | 扬州大学 | Partitioned winding magnetic suspension spherical induction motor |
| CN104634368A (en) * | 2013-11-06 | 2015-05-20 | 现代摩比斯株式会社 | Motor, motor position sensing device, and method |
| CN111509887A (en) * | 2020-06-04 | 2020-08-07 | 成都奇门科技有限公司 | Universal motor |
| WO2020228069A1 (en) * | 2019-05-15 | 2020-11-19 | 深圳傲科海科技有限公司 | Suspension control method, controller, support apparatus and readable storage medium |
-
2009
- 2009-05-05 CN CN2009200390308U patent/CN201536310U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102195537A (en) * | 2011-06-03 | 2011-09-21 | 扬州大学 | Partitioned winding magnetic suspension spherical induction motor |
| CN104634368A (en) * | 2013-11-06 | 2015-05-20 | 现代摩比斯株式会社 | Motor, motor position sensing device, and method |
| CN104634368B (en) * | 2013-11-06 | 2017-06-23 | 现代摩比斯株式会社 | motor, motor position sensing device and method |
| WO2020228069A1 (en) * | 2019-05-15 | 2020-11-19 | 深圳傲科海科技有限公司 | Suspension control method, controller, support apparatus and readable storage medium |
| CN111509887A (en) * | 2020-06-04 | 2020-08-07 | 成都奇门科技有限公司 | Universal motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100728 Termination date: 20130505 |