CN202085108U - Orthogonal winding type magnetic suspension spherical induction motor - Google Patents
Orthogonal winding type magnetic suspension spherical induction motor Download PDFInfo
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- CN202085108U CN202085108U CN2011201862036U CN201120186203U CN202085108U CN 202085108 U CN202085108 U CN 202085108U CN 2011201862036 U CN2011201862036 U CN 2011201862036U CN 201120186203 U CN201120186203 U CN 201120186203U CN 202085108 U CN202085108 U CN 202085108U
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Abstract
An orthogonal winding type magnetic suspension spherical induction motor comprises a magnetism conductive motor stator, a magnetism conductive spherical rotor (14) and a rotating main shaft thereof, and a detection control system for controlling the On and OFF states of each three-phase winding on the motor stator, wherein a gap exists between the inner spherical surface of the motor stator and the outer spherical surface of the spherical rotor which are mutually concentric; the inner spherical surface of the motor stator is provided with mutually orthogonal stator grooves, the stator grooves are provided with six three-phase windings inside, the outer spherical surface of the spherical rotor (14) is provided with mutually orthogonal rotor grooves, and the rotor grooves are provided with rotor windings forming a loop. The utility model is simple, reasonable and compact in structure, the magnetic suspension technology and the motor technology are comprehensively used, bearingless suspension support is realized, the spherical rotor is driven to rotate, no friction or wearing exists between the spherical rotor and the spherical stator of the motor, the dynamic performance is excellent and the response speed is fast.
Description
Technical field
The utility model relates to a kind of spherical motor, particularly, relates to a kind of orthogonal winding formula magnetic suspension spherical induction motor, belongs to technical field of motors.
Background technology
The multi-degree of freedom spherical motor refers to have two or three rotary freedoms, can be 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.
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.
In view of this, need provide a kind of novel spherical motor, to overcome the above-mentioned defective of prior art.
The utility model content
The purpose of this utility model is the problems referred to above that exist at existing multi-degree of freedom spherical motor, based on magnetic levitation technology and motor technology, a kind of mechanical integrated level height is provided, does not have a fretting wear substantially, precision is high and dynamic property is good has multivariant orthogonal winding formula magnetic suspension spherical induction motor.
Above-mentioned purpose is achieved through the following technical solutions: orthogonal winding formula magnetic suspension spherical induction motor, the motor stator that comprises magnetic conduction, the spherical spinner of magnetic conduction and rotating spindle thereof, and be used to control each three phase windings power on/off status detection control system on the described motor stator, wherein, described motor stator inner surface be shaped as an interior spherical that has an opening, described spherical spinner and described rotating spindle are fixed as one, this rotating spindle stretches to the outside by described opening, and is concentric mutually and have an air gap between the interior spherical of described motor stator and the outer spherical face of described spherical spinner; Have mutually orthogonal stator groove on the interior spherical of described motor stator, be provided with six group of three phase winding in this stator groove, this six group of three phase winding along the circumferential direction arranged separately and be set to: the spherical centre of sphere is origin of coordinates O in described motor stator, the reference axis in the spherical center of circle and described open centre is that the Z axle constitutes in the three-dimensional system of coordinate in this motor stator to pass, two three phase windings in described six group of three phase winding are around Z axle layout and with respect to OXY coordinate plane symmetry, two three phase windings are around the Y-axis layout and with respect to OXZ coordinate plane symmetry, and two three phase windings are around the X-axis layout and with respect to the OYZ plane symmetry in addition; Have mutually orthogonal rotor groove on the outer spherical face of described spherical spinner, be furnished with the rotor winding in this rotor groove, this rotor winding constitutes the closed-loop path.
Particularly, described stator groove comprises mutually orthogonal stator longitude groove and stator latitude groove, and described rotor groove comprises mutually orthogonal rotor longitude groove and rotor latitude groove.
Selectively, described opening is a circular open.
Pass through technique scheme, orthogonal winding formula magnetic suspension spherical induction motor of the present utility model is simple and reasonable for structure, compact, integrated application magnetic levitation technology and motor technology, realize the suspension supporting of no bearing and drive spherical rotor rotation, the basic realization do not have friction, do not have wearing and tearing between the spherical spinner of this motor and the stator, dynamic property is good, and response speed is fast.Orthogonal winding formula magnetic suspension spherical induction motor of the present utility model has improved the efficient of motor, prolong useful life, in the universal wheel of the motor of the motor of robot and manipulator, multi-coordinate machining center, aerospace craft, 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, had good application prospects.
Description of drawings
Fig. 1 is the cross-sectional schematic of the motor stator of the utility model embodiment.
Fig. 2 is the schematic diagram of Internal Spherical Surface of the motor stator of the utility model embodiment.
Fig. 3 is the structural representation of the spherical spinner of the utility model embodiment.
Fig. 4 to Fig. 6 is respectively the motor stator winding construction observed from different directions and the electromagnetic force of generation thereof, the analysis schematic diagram of electromagnetic torque.
Among the figure: 1 opening; 2 stator longitude grooves; 3 stator latitude grooves; 4 stator salient poles; 5 rotor with salient pole; 6 rotor longitude grooves; 7 rotor latitude grooves; 8,9 X-direction hemisphere face windings; 10,11 Y direction hemisphere face windings; 12,13 Z-direction hemisphere face windings; 14 spherical spinners.
Embodiment
The embodiment of the utility model orthogonal winding formula magnetic suspension spherical induction motor is described below in conjunction with accompanying drawing.
Referring to Fig. 1 to Fig. 6, orthogonal winding formula magnetic suspension spherical induction motor of the present utility model, the motor stator that comprises magnetic conduction, the spherical spinner 14 and the rotating spindle thereof of magnetic conduction, and be used to control each three phase windings power on/off status detection control system on the described motor stator, wherein, being shaped as of motor stator inner surface one has opening 1(circular opening) interior spherical, spherical spinner 14 is fixed as one with rotating spindle, rotating spindle stretches to the outside by above-mentioned opening 1, and is concentric mutually and have an air gap (gap) between the Internal Spherical Surface of motor stator and the spherical outside surface of spherical spinner.
Extremely shown in Figure 6 referring to Fig. 1, Fig. 2 and Fig. 4, described motor stator is by the material with good magnetic property, for example high silicon steel material is made, and its inner surface is interior spherical, and spherical has mutually orthogonal stator groove (for example comprising stator longitude groove 2 and stator latitude groove 3) in this.As depicted in figs. 1 and 2, be the origin of coordinates with the motor stator Internal Spherical Surface centre of sphere, be that the Z axle constitutes in the three-dimensional system of coordinate that then each two-dimensional coordinate plane is divided into the stator Internal Spherical Surface two hemisphere faces of symmetry in this three-dimensional system of coordinate with the reference axis of passing this motor stator Internal Spherical Surface center of circle and open centre.The OXY plane is divided into the motor stator Internal Spherical Surface two interior hemisphere faces of symmetry, this hemisphere face internal stator salient pole 4, stator groove are as shown in Figure 2, respectively in these two in the hemispherical stator groove, along the circumferential direction embed cover three phase windings (the X-direction hemisphere face winding 8,9 among Fig. 4) around the whole integral body of Z axle, and these two covers, three phase windings are with respect to the OXY plane symmetry; The OXZ plane is divided into the stator Internal Spherical Surface two interior hemisphere faces of symmetry, respectively in these two in the hemispherical stator groove, along the circumferential direction embed a cover three-phase coil winding (the Y direction hemisphere face winding 10,11 among Fig. 5) around Y-axis integral body, and two covers, three phase windings are with respect to the OXZ plane symmetry; The OYZ plane is divided into the stator Internal Spherical Surface two interior hemisphere faces of symmetry, respectively in these two in the hemispherical stator groove, along the circumferential direction embed a cover three-phase coil winding (the Z-direction hemisphere face winding 12,13 among Fig. 6) around X-axis integral body, and these two covers, three phase windings are with respect to the OYZ plane symmetry.
Described spherical spinner 14 is by the material with good magnetic property, for example high silicon steel material is made, its spherical outside surface is identical with the stator Internal Spherical Surface, have mutually orthogonal rotor groove (comprising rotor longitude groove 6 and rotor latitude groove 7) by longitude and latitude direction, rotor groove is divided into whole spherical outside surface the rotor with salient pole 5 of the identical small elemental area of geometry, as shown in Figure 4, be placed with (or cast) rotor winding in the rotor groove, this rotor winding constitutes the closed-loop path.
Referring to Fig. 4 to Fig. 6, the operation principle of described orthogonal winding formula magnetic suspension spherical induction motor is, hemispherical threephase stator winding (the X-direction hemisphere face winding 8,9 among Fig. 4) in two of X-direction is fed three-phase current simultaneously, detecting under the control system effect, to produce rotating magnetic field separately around X-axis, simultaneously in the rotor winding, produce induced current, rotor winding cutting magnetic line with induced current flow just produces and drives the synthetic electromagnetic torque MX=MX1+MX2 that rotor rotates around X-axis; Simultaneously, X-direction hemisphere face winding 8,9 produces magnetic pull FX1 and FX2, detecting under the control system control, makes spherical spinner along the X-direction stable suspersion, as shown in Figure 4; Hemispherical threephase stator winding (the Y direction hemisphere face winding 10,11 among Fig. 5) in two of Y direction is fed three-phase current simultaneously, detecting under the control system effect, to produce rotating magnetic field separately around Y-axis, simultaneously in the rotor winding, produce induced current, rotor winding cutting magnetic line with induced current flow just produces and drives the synthetic electromagnetic torque MY=MY1+MY2 that rotor rotates around Y-axis; Simultaneously, hemispherical winding produces magnetic pull FY1 and FY2 in two, detecting under the control system control, makes spherical spinner along the Y direction stable suspersion; Threephase stator winding (the Z-direction hemisphere face winding 12,13 among Fig. 6) to two Internal Spherical Surface of Z-direction feeds three-phase current, detecting under the control system effect, to produce rotating magnetic field separately around the Z axle, simultaneously in the rotor winding, produce induced current, rotor winding cutting magnetic line with induced current flow just produces and drives the synthetic electromagnetic torque MZ=MZ1+MZ2 of rotor around the rotation of Z axle; Simultaneously, the winding of this Internal Spherical Surface produces magnetic pull FZ1 and FZ2, detecting under the control system control, makes spherical spinner along the Z-direction stable suspersion.Can easily expect at this, orthogonal winding formula magnetic suspension spherical induction motor of the present invention is correspondingly controlled the magnetic torque and the magnetic pull of all directions by controlling each three phase windings "on" position, promptly can easily realize multifreedom motion, it need not to finish motion by the driving mechanism of many covers single-degree-of-freedom and complicated mechanical transmission mechanism.
By last description as seen, the utility model is simple and reasonable for structure, compact, integrated application magnetic levitation technology and motor technology, realize the suspension supporting of no bearing and drive spherical rotor rotation, make that basic the realization do not have friction, do not have wearing and tearing between the spherical spinner of the utility model orthogonal winding formula magnetic suspension spherical induction motor and the stator, dynamic property is good, and response speed is fast.Orthogonal winding formula magnetic suspension spherical induction motor of the present utility model has improved the efficient of motor, prolong useful life, in the universal wheel of the motor of the motor of robot and manipulator, multi-coordinate machining center, aerospace craft, 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, had good application prospects.
Each concrete technical characterictic described in above-mentioned embodiment can carry out combination in any by any suitable manner, and it falls within the scope disclosed in the utility model equally.Simultaneously, also can carry out combination in any between the various execution mode of the present utility model, as long as it is without prejudice to thought of the present utility model, it should be considered as content disclosed in the utility model equally.In addition; the utility model is not limited to the detail in the above-mentioned execution mode; in technical conceive scope of the present utility model, can carry out multiple simple variant to the technical solution of the utility model, these simple variant all belong to protection range of the present utility model.Protection range of the present utility model is defined by the claims.
Claims (3)
1. orthogonal winding formula magnetic suspension spherical induction motor, it is characterized in that, comprise the motor stator of magnetic conduction, the spherical spinner of magnetic conduction (14) and rotating spindle thereof and be used to control each three phase windings power on/off status detection control system on the described motor stator, wherein
Described motor stator inner surface be shaped as an interior spherical that has an opening (1), described spherical spinner and described rotating spindle are fixed as one, this rotating spindle stretches to the outside by described opening, and is concentric mutually and have an air gap between the interior spherical of described motor stator and the outer spherical face of described spherical spinner;
Have mutually orthogonal stator groove on the interior spherical of described motor stator, be provided with six group of three phase winding in this stator groove, this six group of three phase winding along the circumferential direction arranged separately and be set to: the spherical centre of sphere is origin of coordinates O in described motor stator, the reference axis in the spherical center of circle and described opening (1) center is that the Z axle constitutes in the three-dimensional system of coordinate in this motor stator to pass, two three phase windings in described six group of three phase winding are around Z axle layout and with respect to OXY coordinate plane symmetry, two three phase windings are around the Y-axis layout and with respect to OXZ coordinate plane symmetry, and two three phase windings are around the X-axis layout and with respect to the OYZ plane symmetry in addition;
Have mutually orthogonal rotor groove on the outer spherical face of described spherical spinner (14), be furnished with the rotor winding in this rotor groove, this rotor winding constitutes the closed-loop path.
2. orthogonal winding formula magnetic suspension spherical induction motor according to claim 1, it is characterized in that, described stator groove comprises mutually orthogonal stator longitude groove (2) and stator latitude groove (3), and described rotor groove comprises mutually orthogonal rotor longitude groove (6) and rotor latitude groove (7).
3. orthogonal winding formula magnetic suspension spherical induction motor according to claim 1 is characterized in that described opening (1) is a circular open.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201862036U CN202085108U (en) | 2011-06-03 | 2011-06-03 | Orthogonal winding type magnetic suspension spherical induction motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201862036U CN202085108U (en) | 2011-06-03 | 2011-06-03 | Orthogonal winding type magnetic suspension spherical induction motor |
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| CN202085108U true CN202085108U (en) | 2011-12-21 |
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| CN2011201862036U Expired - Fee Related CN202085108U (en) | 2011-06-03 | 2011-06-03 | Orthogonal winding type magnetic suspension spherical induction motor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015027939A1 (en) * | 2013-10-08 | 2015-03-05 | Ho Kuokwa | Ball joint universal rotary motor, manufacturing method and working mechanism thereof |
| CN104836408A (en) * | 2015-03-24 | 2015-08-12 | 北京机械设备研究所 | Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor |
| CN105108746A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Multi-degree-of-freedom joint robot arm |
| CN103780041B (en) * | 2013-10-08 | 2016-08-17 | 何国华 | Spherical hinge universal turning motor and manufacture method, method of work |
| WO2017157143A1 (en) | 2016-03-16 | 2017-09-21 | Ho Kuokwa | Steering hub system driven by ball joint universal rotary motor |
| CN107425695A (en) * | 2017-05-31 | 2017-12-01 | 西安广源机电技术有限公司 | A kind of three dimensionality finite angle globular motor |
| CN113364353A (en) * | 2021-04-22 | 2021-09-07 | 南昌航空大学 | Multi-degree-of-freedom driver of superconducting magnetic suspension spherical bearing |
-
2011
- 2011-06-03 CN CN2011201862036U patent/CN202085108U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015027939A1 (en) * | 2013-10-08 | 2015-03-05 | Ho Kuokwa | Ball joint universal rotary motor, manufacturing method and working mechanism thereof |
| CN103780041B (en) * | 2013-10-08 | 2016-08-17 | 何国华 | Spherical hinge universal turning motor and manufacture method, method of work |
| CN104836408A (en) * | 2015-03-24 | 2015-08-12 | 北京机械设备研究所 | Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor |
| CN104836408B (en) * | 2015-03-24 | 2017-06-09 | 北京机械设备研究所 | A kind of six degree of freedom permanent-magnet synchronous magnetic suspension spherical motor |
| CN105108746A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Multi-degree-of-freedom joint robot arm |
| CN105108746B (en) * | 2015-08-10 | 2017-03-29 | 广东工业大学 | A kind of multi-freedom joint robot arm |
| WO2017157143A1 (en) | 2016-03-16 | 2017-09-21 | Ho Kuokwa | Steering hub system driven by ball joint universal rotary motor |
| CN107425695A (en) * | 2017-05-31 | 2017-12-01 | 西安广源机电技术有限公司 | A kind of three dimensionality finite angle globular motor |
| CN113364353A (en) * | 2021-04-22 | 2021-09-07 | 南昌航空大学 | Multi-degree-of-freedom driver of superconducting magnetic suspension spherical bearing |
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Legal Events
| Date | Code | Title | Description |
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| 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: 20111221 Termination date: 20140603 |