CN202160025U

CN202160025U - Multi-freedom degree spherical motor

Info

Publication number: CN202160025U
Application number: CN201120271855XU
Authority: CN
Inventors: 李铁栓; 张冬冬
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2011-07-29
Filing date: 2011-07-29
Publication date: 2012-03-07
Anticipated expiration: 2021-07-29

Abstract

The utility model relates to a multi-freedom degree spherical motor which comprises a rotor sphere, rotor gears, an aluminum layer, an output shaft, ball bearings, stator windings and a stator shell. 48 rotor gears, 4 ball bearings and 1 output shaft are mounted on the rotor sphere; motions on eight vertical pitching directions and motion on one horizontal rotating direction, namely, motions of 9 freedom degrees can be realized through the output shaft. The ball bearings slide on the inner surface of the aluminum layer to keep the balance of the rotor sphere. 64 stator windings are arranged in a sandwich between the aluminum layer and the stator shell; spherical motions both on the horizontal rotating direction and the vertical pitching directions are completed by adopting four-phase control. The multi-freedom degree spherical motor has larger application values in robot driving systems and multi-freedom degree joint drive.

Description

The multi-degree of freedom spherical motor

Technical field

The utility model relates to a kind of globular motor, particularly a kind of multi-degree of freedom spherical motor simple in structure.

Background technology

The drive motors of traditional single-degree-of-freedom will realize that the above motion of two degrees of freedom needs two or more servomotors to pass through complicated mechanical and connects realization, and this not only causes big, the Heavy Weight of machinery volume, and the dynamic and static properties of order system is poor.The multiple degrees of freedom motor develops so far, and the permanent magnetism spherical motor more and more receives publicity, and need not lamination; Have that operation logic is simple relatively, energy index is high, volume is little, in light weight, be convenient to make and control advantages such as simple, but the processing of motor body and make still more complicated; The sphere processing difficulties; Need use four, five advanced in the world process technologies, cost is higher, can not realize commercially producing.

Summary of the invention

The utility model is a problem of making difficulty to present multiple degrees of freedom electric motor structure, has proposed a kind of multi-degree of freedom spherical motor, is the simple relatively multi-degree of freedom spherical motor of a kind of structure, and processing is simple, is suitable for the design of electromagnetism computing and control system.

The technical scheme of the utility model is: a kind of multi-degree of freedom spherical motor; Comprise rotor spheroid, rotor tooth, aluminium lamination, output shaft, ball, stator winding, stator case; 48 rotor tooths, four balls and an output shaft are installed on the rotor spheroid; Rotor spheroid and rotor tooth are permanent magnet, and ball and output shaft are non-magnetizer; The aluminium lamination that inner face is smooth is bowl-shape, and ball support rotor spheroid slides at the aluminium lamination inner face, and ball spatially is 4 summits of positive tetrahedron in the position of spherome surface; In the interlayer of aluminium lamination and stator case, 64 stator winding that distribute, the power-up sequence of control stator winding is accomplished spheric motion.

It is that launch in the center of circle that said 64 stator winding adopt with the output shaft, and 64 stator winding are evenly distributed on the warp after sphere is divided into 16 five equilibriums, and forming with the output shaft is 4 concentric circless in the center of circle, on each circle 16 stator winding is arranged.

It is that launch in the center of circle that said 48 rotor tooths adopt with the output shaft, and 48 rotor tooths are evenly distributed on the warp after sphere is divided into ten bisections, and forming with the output shaft is 4 concentric circless in the center of circle, on each circle 12 stator winding is arranged.

Said rotor tooth is a screw type, embeds the rotor sphere, and the rotor tooth upper surface is square, and the lower surface that rotor tooth contacts with the rotor spheroid is an arc, tightly fits in the outer surface of rotor spheroid.

The beneficial effect of the utility model is: the utility model multi-degree of freedom spherical motor, simplified the structure of mechanical system widely, reduced production cost, and volume is little, in light weight, system dynamically, static properties is high.

Description of drawings

Fig. 1 is the utility model multi-degree of freedom spherical electric machine structure figure;

Fig. 2 is the stator winding structure expanded view of the utility model multi-degree of freedom spherical motor;

Fig. 3 is the rotor tooth structure expanded view of the utility model multi-degree of freedom spherical motor;

Fig. 4 is the rotor tooth outline drawing of the utility model multi-degree of freedom spherical motor.

Embodiment

Multi-degree of freedom spherical electric machine structure figure as shown in Figure 1 comprises rotor spheroid 1, rotor tooth 2, aluminium lamination 3, output shaft 4, ball 5, stator winding 6, stator case 7.48 rotor tooths 2, four balls 5 and output shafts 4 are installed on the rotor spheroid 1, and rotor spheroid 1 is permanent magnet with rotor tooth 2, and ball 5 is a non-magnetizer with output shaft 4.Output shaft 4 can be realized the motion of eight vertical pitch orientation and a horizontal rotatio direction, i.e. nine degree of freedom motions.Ball 5 spatially is 4 summits of positive tetrahedron in the position of spherome surface, when rotatablely moving above three balls keep balances, next ball is born gravity at the end, can realize stable motion; During elevating movement, guarantee always to have a gore on aluminium lamination 3, also can realize stable motion.Aluminium lamination 3 is bowl-shape, and inner face is smooth, and in the interlayer of stator case 7,64 stator winding 6 that distribute through the power-up sequence of control stator winding 6, are accomplished spheric motion.In two energising windings; Near each stator winding 6 rotor tooth 2 is arranged all, and the distance of the distance (tooth pitch) between two rotor tooths 2 and two energising stator winding 6 just can produce torque when equating; Rotor tooth 2 is produced absorption affinity, make the position that motor movement arrives to be needed.Operation principle and XY switch reluctance motor are similar.

Stator winding structure expanded view in the multi-degree of freedom spherical motor as shown in Figure 2 comprises 64 stator winding.Because sphere be for can not open up curved surface, the existing employing carried out piecemeal through collimation method and launched, sphere is divided into behind 16 five equilibriums by each Along ent of warp connection, and be that launch in the center of circle with the output shaft among Fig. 14.In horizontally rotating motion, adopt four controls mutually, on each concentric circumference (having four concentric circumference) 16 stator winding are arranged; In vertical elevating movement, also adopt four controls mutually, promptly on every warp four stator winding are arranged, but because the disappearance of top and bottom rotor tooth can only be carried out the rotation of limited range (less than 90 degree) on vertical pitch orientation.

The rotor tooth structure expanded view of multi-degree of freedom spherical motor as shown in Figure 3 comprises 48 rotor tooths.Employing is carried out piecemeal through collimation method and is launched, and sphere is divided into ten halves the back by each Along ent of warp connection, be that launch in the center of circle with the output shaft among Fig. 14.

The rotor tooth outline drawing of multi-degree of freedom spherical motor as shown in Figure 4, rotor tooth 2 is square screw, arc is processed in the bottom, tightly fits in the outer surface of rotor spheroid 1.

Claims

1. multi-degree of freedom spherical motor; It is characterized in that; Comprise rotor spheroid (1), rotor tooth (2), aluminium lamination (3), output shaft (4), ball (5), stator winding (6), stator case (7); Rotor spheroid (1) is gone up 48 rotor tooths (2), four balls (5) and an output shaft (4) is installed, and rotor spheroid (1) and rotor tooth (2) are permanent magnet, and ball (5) and output shaft (4) are non-magnetizer; The aluminium lamination that inner face is smooth (3) is bowl-shape, and ball (5) support rotor spheroid (1) slides at aluminium lamination (3) inner face, and ball (5) spatially is 4 summits of positive tetrahedron in the position on spheroid (1) surface; In the interlayer of aluminium lamination (3) and stator case (7), 64 stator winding (6) that distribute, the power-up sequence of control stator winding (6) is accomplished spheric motion.

2. according to the said multi-degree of freedom spherical motor of claim 1; It is characterized in that; It is that launch in the center of circle that said 64 stator winding (6) adopt with output shaft (4); 64 stator winding (6) are evenly distributed on the warp after sphere is divided into 16 five equilibriums, and forming with output shaft (4) is 4 concentric circless in the center of circle, on each circle 16 stator winding (6) are arranged.

3. according to the said multi-degree of freedom spherical motor of claim 1; It is characterized in that; It is that launch in the center of circle that said 48 rotor tooths (2) adopt with output shaft (4); 48 rotor tooths (2) are evenly distributed on the warp after sphere is divided into ten bisections, and forming with output shaft (4) is 4 concentric circless in the center of circle, on each circle 12 stator winding (6) are arranged.

4. according to the said multi-degree of freedom spherical motor of claim 1; It is characterized in that; Said rotor tooth (2) is a screw type, embeds rotor sphere (1), and rotor tooth (2) upper surface is square; The lower surface that rotor tooth (2) contacts with rotor spheroid (1) is an arc, tightly fits in the outer surface of rotor spheroid (1).