CN202151865U - Orthogonal winding inductive magnetic suspension spherical active joint - Google Patents
Orthogonal winding inductive magnetic suspension spherical active joint Download PDFInfo
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- CN202151865U CN202151865U CN2011201857790U CN201120185779U CN202151865U CN 202151865 U CN202151865 U CN 202151865U CN 2011201857790 U CN2011201857790 U CN 2011201857790U CN 201120185779 U CN201120185779 U CN 201120185779U CN 202151865 U CN202151865 U CN 202151865U
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Abstract
An orthogonal winding inductive magnetic suspension spherical active joint comprises a magnetic conductive joint stator, a magnetic conductive spherical rotor (14) and a rotating spindle thereof and a detection control system used for controlling the on-off state of three-phase windings on the joint stator, wherein the inner spherical surface of the joint stator is concentric to the outer spherical surface of the spherical rotor and an air gap is arranged; orthogonal stator grooves are formed on the inner spherical surface of the joint stator; six groups of three-phase windings are arranged in the stator grooves; orthogonal rotor grooves are formed on the outer spherical surface of the spherical rotor (14); and rotor windings are arranged in the rotor grooves to form a closed loop. The orthogonal winding inductive magnetic suspension spherical active joint has a simple, reasonable and compact structure, the bearingless suspension support is realized and the spherical rotor is driven to rotate through comprehensive application of the magnetic suspension technology and electrical machine technology, no friction or wear is realized between the spherical rotor and the stator of the active joint, the dynamic performance is good, and the response speed is high.
Description
Technical field
The utility model relates to a kind of spherical joint, particularly, relates to a kind of orthogonal winding induction type magnetic suspension spherical active joint, and widely used articular system with supporting driving function belongs to electromechanical integration technology area in its engineering.
Background technology
Spherical joint is at robot and manipulator, and even universal wheel of multi-coordinate machining center, aerospace craft, electric gyro, omnidirectional tracking antenna, gun turret turntable, medicine equipment, camera operation platform, panoramic shooting operating desk, mixer, travel mechanism, globe valve, ball pump etc. have in the equipment of a plurality of freedoms of motion and be with a wide range of applications.
Typically, articular system comprises driver, driver and controller, and the basic components that it belongs to robot are important steps in the entire machine people servo-drive system, and its structure, weight, size have direct influence to the robot performance.Most of spherical joints are multi-freedom joint; And the motion of multi-freedom joint to be several joints connect and utilize translation and the coordinated movement of various economic factors that rotatablely moves produces through connecting rod, often need adopt driving mechanism and the complicated mechanical transmission mechanisms that overlap single-degree-of-freedoms to accomplish more.To cause complex structure like this, bulky, joint rubbing surface serious wear, inefficiency is made very difficulty is installed, and the space scope is little, and it is slow to respond, and dynamic property is relatively poor.And the accumulative total of machine driven system error causes the precise decreasing of The whole control system, even influences the stability of system.
In view of this, need a kind of novel spherical joint of design, to overcome the above-mentioned defective of prior art.
The utility model content
The purpose of the utility model is the problems referred to above that exist to existing spherical joint; Based on magnetic levitation technology and motor technology; Provide a kind of mechanical integrated level high, simple in structure, do not have a fretting wear basically; Precision is high and dynamic property is good, and having can be around the multiple freedom degree magnetic levitation spherical active joint of fixed point spatial axes rotation.
Above-mentioned purpose realizes through following technical scheme: orthogonal winding induction type magnetic suspension spherical active joint; Comprise the joint stator of magnetic conduction, the spherical spinner and the rotating spindle thereof of magnetic conduction and the detection control system that is used to control each three phase windings break-make electricity condition on the stator of said joint; Wherein, Said joint stator inner surface be shaped as one have an opening interior spherical; Said spherical spinner and said rotating spindle are fixed as one, and this rotating spindle stretches to the outside through said opening, and be concentric each other and have an air gap between the interior spherical of said joint stator and the outer spherical face of said spherical spinner; Have mutually orthogonal stator groove on the interior spherical of said joint 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 said joint stator, the reference axis in the spherical center of circle and said open centre is that the Z axle constitutes in the three-dimensional system of coordinate in this joint stator to pass; Two three phase windings in said six group of three phase winding are arranged around the Z axle and are symmetrical with respect to the OXY coordinate plane; Two three phase windings are around Y axle layout and with respect to OXZ coordinate plane symmetry, and two three phase windings are around X axle layout and with respect to the OYZ plane symmetry in addition; Have mutually orthogonal rotor groove on the outer spherical face of said spherical spinner, be furnished with the rotor winding in this rotor groove, this rotor winding constitutes the closed-loop path.
Particularly, said stator groove comprises mutually orthogonal stator longitude groove and stator latitude groove, and said rotor groove comprises mutually orthogonal rotor longitude groove and rotor latitude groove.
Selectively, said opening is a circular open.
Pass through technique scheme; 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 drive spherical rotor rotation that initiatively basic the realization do not have friction, do not have wearing and tearing between the spherical spinner in joint and the stator; Dynamic property is good, and response speed is fast.The orthogonal winding induction type magnetic suspension spherical active joint of the utility model has improved the efficient in joint; Prolong service life, in the universal wheel of the joint of the joint 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 joint stator of the utility model specific embodiment.
Fig. 2 is the sketch map of Internal Spherical Surface of the joint stator of the utility model specific embodiment.
Fig. 3 is the structural representation of the spherical spinner of the utility model specific embodiment.
Fig. 4 to Fig. 6 is respectively the joint stator winding structure observed from different directions and the electromagnetic force of generation thereof, the analysis sketch map 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.
The specific embodiment
The specific embodiment of the utility model orthogonal winding induction type magnetic suspension spherical active joint is described below in conjunction with accompanying drawing.
Referring to Fig. 1 to Fig. 6; The orthogonal winding induction type magnetic suspension spherical active joint of the utility model; Comprise the joint stator of magnetic conduction, the spherical spinner 14 and the rotating spindle thereof of magnetic conduction and the detection control system that is used to control each three phase windings break-make electricity condition on the stator of said joint; Wherein, the joint stator inner surface be shaped as one have opening 1 (a circular opening) interior spherical, spherical spinner 14 is fixed as one with rotating spindle; Rotating spindle stretches to the outside through above-mentioned opening 1, and is concentric each other and have an air gap (gap) between the Internal Spherical Surface of joint stator and the spherical outside surface of spherical spinner.
Extremely shown in Figure 6 referring to Fig. 1, Fig. 2 and Fig. 4; Said joint stator is by the material with good magnetic property; For example high silicon steel material is processed, 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 joint 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 stator Internal Spherical Surface center of circle, joint and open centre.The OXY plane is divided into joint stator Internal Spherical Surface two interior hemisphere faces of symmetry; This hemisphere face inner 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 axle 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 axle integral body, and these two covers, three phase windings are with respect to the OYZ plane symmetry.
Said spherical spinner 14 is by the material with good magnetic property; For example high silicon steel material is processed, and its spherical outside surface is identical with the stator Internal Spherical Surface, has 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 said orthogonal winding induction type magnetic suspension spherical active joint 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 systemic effect, will produce rotating excitation field separately around the X axle, in the rotor winding, produce induced-current simultaneously; Rotor winding cutting magnetic line with induced current flow just produces and drives the synthetic electromagnetic torque MX=MX1+MX2 of rotor around the rotation of X axle; Simultaneously, X-direction hemisphere face winding 8,9 produces magnetic pull FX1 and FX2, detecting under the control of control system, makes spherical spinner along the X-direction stable suspersion, and is 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 systemic effect; To produce rotating excitation field separately around the Y axle; Simultaneously in the rotor winding, produce induced-current, have the rotor winding cutting magnetic line of induced current flow, just produce and drive the synthetic electromagnetic torque MY=MY1+MY2 of rotor around the rotation of Y axle; Simultaneously, hemispherical winding produces magnetic pull FY1 and FY2 in two, detecting under the control of control system, 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 systemic effect; To produce rotating excitation field separately around the Z axle; Simultaneously in the rotor winding, produce induced-current, have the rotor winding cutting magnetic line of induced current flow, just produce and drive 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 of control system, makes spherical spinner along the Z-direction stable suspersion.What this needed explanation in addition be; Orthogonal winding induction type magnetic suspension spherical active joint of the present invention; Wherein " initiatively " in " initiatively joint " representes that this spherical joint controls the magnetic pull of all directions through controlling each three phase windings "on" position; Promptly can easily realize multifreedom motion, it need not to accomplish motion through the driving mechanism of many covers single-degree-of-freedom and complicated mechanical transmission mechanism.
Visible by last description; 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 drive spherical rotor rotation that initiatively basic the realization do not have friction, do not have wearing and tearing between the spherical spinner in joint and the stator; Dynamic property is good, and response speed is fast.The orthogonal winding induction type magnetic suspension spherical active joint of the utility model has improved the efficient in joint; Prolong service life, in the universal wheel of the joint of the joint 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 the above-mentioned specific embodiment can carry out combination in any through 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 embodiment of the utility model, as long as its thought without prejudice to the utility model, it should be regarded as content disclosed in the utility model equally.In addition; The utility model is not limited to the detail in the above-mentioned embodiment; In the technical conceive scope of the utility model, can carry out multiple simple variant to the technical scheme of the utility model, these simple variant all belong to the protection domain of the utility model.The protection domain of the utility model is defined by the claims.
Claims (3)
1. orthogonal winding induction type magnetic suspension spherical active joint; It is characterized in that; Comprise the joint stator of magnetic conduction, the spherical spinner (14) and the rotating spindle thereof of magnetic conduction and the detection control system that is used to control each three phase windings break-make electricity condition on the stator of said joint, wherein
Said joint stator inner surface be shaped as one have an opening (1) interior spherical; Said spherical spinner and said rotating spindle are fixed as one; This rotating spindle stretches to the outside through said opening, and is concentric each other and have an air gap between the interior spherical of said joint stator and the outer spherical face of said spherical spinner;
Have mutually orthogonal stator groove on the interior spherical of said joint 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 said joint stator, the reference axis in the spherical center of circle and said opening (1) center is that the Z axle constitutes in the three-dimensional system of coordinate in this joint stator to pass; Two three phase windings in said six group of three phase winding are arranged around the Z axle and are symmetrical with respect to the OXY coordinate plane; Two three phase windings are around Y axle layout and with respect to OXZ coordinate plane symmetry, and two three phase windings are around X axle layout and with respect to the OYZ plane symmetry in addition;
Have mutually orthogonal rotor groove on the outer spherical face of said spherical spinner (14), be furnished with the rotor winding in this rotor groove, this rotor winding constitutes the closed-loop path.
2. orthogonal winding induction type magnetic suspension spherical active joint according to claim 1; It is characterized in that; Said stator groove comprises mutually orthogonal stator longitude groove (2) and stator latitude groove (3), and said rotor groove comprises mutually orthogonal rotor longitude groove (6) and rotor latitude groove (7).
3. orthogonal winding induction type magnetic suspension spherical active joint according to claim 1 is characterized in that said opening (1) is a circular open.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201857790U CN202151865U (en) | 2011-06-03 | 2011-06-03 | Orthogonal winding inductive magnetic suspension spherical active joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201857790U CN202151865U (en) | 2011-06-03 | 2011-06-03 | Orthogonal winding inductive magnetic suspension spherical active joint |
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| CN202151865U true CN202151865U (en) | 2012-02-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011201857790U Expired - Fee Related CN202151865U (en) | 2011-06-03 | 2011-06-03 | Orthogonal winding inductive magnetic suspension spherical active joint |
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| CN (1) | CN202151865U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104653970A (en) * | 2015-02-05 | 2015-05-27 | 柳州如洋精密科技有限公司 | Measuring engine base for articulated arm |
| CN107061492A (en) * | 2017-04-20 | 2017-08-18 | 北京航空航天大学 | A kind of spherical magnetic suspension bearing apparatus |
-
2011
- 2011-06-03 CN CN2011201857790U patent/CN202151865U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104653970A (en) * | 2015-02-05 | 2015-05-27 | 柳州如洋精密科技有限公司 | Measuring engine base for articulated arm |
| CN104653970B (en) * | 2015-02-05 | 2017-06-27 | 柳州如洋精密科技有限公司 | Joint arm measuring engine base |
| CN107061492A (en) * | 2017-04-20 | 2017-08-18 | 北京航空航天大学 | A kind of spherical magnetic suspension bearing apparatus |
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| 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: 20120229 Termination date: 20140603 |