CN205319903U

CN205319903U - Spherical induction machine of multi freedom

Info

Publication number: CN205319903U
Application number: CN201620033440.1U
Authority: CN
Inventors: 王培欣; 谢璐佳; 赵素珍; 张露锋; 司纪凯; 封海潮; 许孝卓
Original assignee: Henan University of Technology
Current assignee: Henan University of Technology
Priority date: 2016-01-14
Filing date: 2016-01-14
Publication date: 2016-06-15
Anticipated expiration: 2026-01-14

Abstract

The utility model relates to a spherical induction machine of multi freedom, mainly include the shell, fix space vertical distribution of each other on the shell the spherical arc stator that three group's structures are the same, can do rotary motion's hollow spherical's rotor and bearing around the centre of sphere, the radius of rotor is less than three group's radiuss of sphericity that the stator centered on, just the rotor is arranged in in the space that the stator centered on, the rotor is by the bearing fixed stay, and the rotor is tangent with the ball of bearing, can wind centre of sphere free rotation. The utility model provides a can do in the arbitrary direction rotary motion and have simple structure, easily control, handling ease etc. The spherical induction machine of multi freedom of advantage.

Description

A kind of multi-degree of freedom spherical induction motor

Technical field

The utility model relates to a kind of multi-degree of freedom spherical induction motor.

Background technology

Along with the development of modern industrial technology, more and more workplaces requires that mechanism can realize continuous print multiple degree of freedom in space and rotate, such as radar, mechanical manipulator, vision system, high precision machine tool etc. Conventional motor is all single-shaft-rotation, and will realize multiple degree of freedom rotation must by connection mechanism by multiple independent single shaft motor combination. But unavoidably there is distortion and the motion dead band of transmission rig in this kind multiple degree of freedom rotating mechanism that array mode is formed, and additional connection mechanism causes system inertia big, and dynamic response performance is poor. Relative to these tradition multiple degree of freedom rotating mechanisms, ball type motor has significant advantage, as little in volume, weight is light, fast response time, do not have backlash and do not have singular point etc. in working space, but the rotor of existing most globular motor is after stationary shaft is fixing, often can only accomplish a certain determine direction main motion and and other directions on auxiliary motion, do not accomplish multifreedom motion truly.

Summary of the invention

The purpose of this utility model be to overcome above-mentioned deficiency of the prior art provide a kind of can do rotary motion on any direction and have structure simple, be easy to control, be convenient to processing etc. the multi-degree of freedom spherical induction motor of advantage.

The technical solution of the utility model is achieved in that a kind of multi-degree of freedom spherical induction motor, the rotor of sphere arc stator that three groups of structures of the orthogonal distribution in space mainly comprise shell, being fixed on shell are identical, the hollow ball shape that can rotate around the centre of sphere and bearing, the radius of described rotor be less than described three groups of stators around spheroid radius, and described rotor be placed in described stator around space, described rotor is by bearing fixed support, the ball of rotor and bearing is tangent, it is possible to rotate freely around the centre of sphere.

Described rotor is fixed between stator by multiple bearing, remains with air gap between rotor and stator, and rotor outer surface is covered with layers of copper.

Described bearing is made up of pedestal and ball, and pedestal upper and lower surface is sphere, and a spherical groove is opened at upper surface center, and surrounding drives a circle circular groove, and ball is placed in groove and can roll, and each ball and rotor are tangent, remains with air gap between support rotor and stator.

Three groups of stators are sphere arcuate structure, and interior outside surface is sphere, and the plane of symmetry of three groups of stators is vertical between two;Stator is camber line fluting circumferentially, is provided with coiling group in groove.

Three groups of stators are defined as α stator, β stator, γ stator respectively; In the shell of described spherical induction motor, space is spherical, and wherein γ stator is fixed on the horizontal maximum radius place of interior space spheroid, and γ stator is made up of four sections of stators, alternately, installs and fix a bearing between every two sections of stators; The lower-most point in space arranges and installs a bearing in the enclosure, and the surrounding at this bearing arranges the β stator and α stator installing and be made up of two sections of stators respectively, makes the plane of symmetry of β stator and α stator orthogonal.

The positively effect that the technical solution of the utility model produces is as follows: during the utility model machine operation, regulating the received current of three groups of stators, change its exerting oneself to rotor, according to the synthesis principle of power, rotor can do the rotary motion on any direction. The utility model adopts the structure of induction motor, has structure simple, is easy to many-sided advantages such as control.

Accompanying drawing explanation

Fig. 1 is the overall appearance schematic diagram of the utility model multi-degree of freedom spherical induction motor.

Fig. 2 is the right section schematic diagram of the utility model multi-degree of freedom spherical induction motor.

Fig. 3 is shell 1/2 diagrammatic cross-section of the utility model multi-degree of freedom spherical induction motor.

Fig. 4 is the stator space position structural representation of the utility model multi-degree of freedom spherical induction motor.

Fig. 5 is the bearing structural representation of the utility model multi-degree of freedom spherical induction motor.

In figure: 1, hollow spherical rotor; 2, shell; 3, γ stator; 4, β stator; 5, α stator; 6, bearing; 7, steel ball; 8, bearing base.

Embodiment

For the purpose of this utility model, technical scheme and advantage are better described, below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.

A kind of multi-degree of freedom spherical induction motor, as shown in Fig. 1,2,3,4,5, comprises shell 2, three groups of plane of symmetry γ stators 3 perpendicular to each other, β stator 4, α stator 5 and is arranged on stator around the hollow spherical rotor 1 in space and bearing 6.

Three groups of stator structures of described induction motor are consistent, and just fixed position, space is different, and its plane of symmetry is vertical between two, and three groups of stator enclosed spaces are spherical. The rotor of described induction motor is fixed between stator by multiple bearing, remains with certain thickness air gap between rotor and stator, and rotor outer surface is covered with layers of copper.

Described bearing is made up of pedestal 8 and ball 7, and pedestal upper and lower surface is sphere, and a spherical groove is opened at upper surface center, surrounding drives a circle circular groove, ball is placed in groove and can roll, and each ball and rotor are tangent, remains with certain air gap between support rotor and stator.

In the shell of described spherical induction motor, space is spherical, and wherein γ stator is fixed on the horizontal maximum radius place of interior space spheroid, and γ stator is made up of four sections of stators, alternately, installs and fix a bearing between every two sections of stators. The lower-most point in space arranges and installs a bearing in the enclosure, and the surrounding at this bearing arranges the β stator and α stator installing and be made up of two sections of stators respectively, makes the plane of symmetry of β stator and α stator orthogonal. Then hollow spherical rotor is placed in α stator, β stator, γ stator and bearing enclosed space, hollow spherical rotor remains with certain thickness air gap under the fixed support of bearing and between stator, the ball of hollow spherical rotor and bearing is tangent, it is possible to freely rotate.

During the induction motor energising work of the present embodiment, if when α stator, β stator, γ stator only have one group to be energized, only producing single rotatingfield in air gap, the electromagnetic force that rotor will be subject on correspondence direction also rotates under the effect of this electromagnetic force.If when α stator, β stator, γ stator have two groups to be energized simultaneously, the rotatingfield that will produce on two different directions in air gap, the electromagnetic force that rotor will be subject on corresponding two directions, according to the synthesis principle of power, rotor rotates along the direction made a concerted effort. If when α stator, β stator, γ stator have three groups to be energized simultaneously, the rotatingfield that will produce on three different directions in air gap, the electromagnetic force that rotor will be subject on corresponding three directions, according to the synthesis principle of power, rotor rotates along the direction made a concerted effort. Can by certain control unit, the electric current of regulating and controlling α stator, β stator, γ stator, the size of the electromagnetic force of each stator of indirect regulation control suffered by rotor, the size made a concerted effort suffered by rotor and direction will change, and rotor can do the rotary motion on any direction. Owing to the utility model adopts the structure of induction motor, there is structure simple, it is easy to control, many-sided advantage such as multifreedom motion.

Claims

1. a multi-degree of freedom spherical induction motor, it is characterized in that: the rotor of sphere arc stator that three groups of structures of the orthogonal distribution in space mainly comprise shell, being fixed on shell are identical, the hollow ball shape that can rotate around the centre of sphere and bearing, the radius of described rotor be less than described three groups of stators around spheroid radius, and described rotor be placed in described stator around space, described rotor is by bearing fixed support, the ball of rotor and bearing is tangent, it is possible to rotate freely around the centre of sphere.

2. a kind of multi-degree of freedom spherical induction motor according to claim 1, it is characterised in that: described rotor is fixed between stator by multiple bearing, remains with air gap between rotor and stator, and rotor outer surface is covered with layers of copper.

3. a kind of multi-degree of freedom spherical induction motor according to claim 2, it is characterized in that: described bearing is made up of pedestal and ball, pedestal upper and lower surface is sphere, a spherical groove is opened at upper surface center, surrounding drives a circle circular groove, ball is placed in groove and can roll, and each ball and rotor are tangent, remains with air gap between support rotor and stator.

4. a kind of multi-degree of freedom spherical induction motor according to claim 1, it is characterised in that: three groups of stators are sphere arcuate structure, and interior outside surface is sphere, and the plane of symmetry of three groups of stators is vertical between two; Stator is camber line fluting circumferentially, is provided with coiling group in groove.

5. a kind of multi-degree of freedom spherical induction motor according to claim 1, it is characterised in that: three groups of stators are defined as α stator, β stator, γ stator respectively; In the shell of described spherical induction motor, space is spherical, and wherein γ stator is fixed on the horizontal maximum radius place of interior space spheroid, and γ stator is made up of four sections of stators, alternately, installs and fix a bearing between every two sections of stators; The lower-most point in space arranges and installs a bearing in the enclosure, and the surrounding at this bearing arranges the β stator and α stator installing and be made up of two sections of stators respectively, makes the plane of symmetry of β stator and α stator orthogonal.