CN206834971U - Three dimensionality finite angle globular motor - Google Patents
Three dimensionality finite angle globular motor Download PDFInfo
- Publication number
- CN206834971U CN206834971U CN201720618088.2U CN201720618088U CN206834971U CN 206834971 U CN206834971 U CN 206834971U CN 201720618088 U CN201720618088 U CN 201720618088U CN 206834971 U CN206834971 U CN 206834971U
- Authority
- CN
- China
- Prior art keywords
- yoke
- dimensionality
- coil unit
- coil
- finite angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Dc Machiner (AREA)
Abstract
The utility model discloses three dimensionality finite angle globular motor, including cup dolly, sphere arc coil unit is installed on the cup dolly, also include load mounting disc, load mounting disc one end is provided with arc inner yoke, the inner yoke other end is installed on the ball bearing that cup dolly center is set, and permanent magnet and outer yoke are provided with the outside of each inner yoke circular arc；It is complicated that the utility model overcomes globular motor in the prior art, it is bulky, it is unable to driving load and realizes move in the finite angles of orientation, pitching, the rotation dimensions of roll three, and need to be by intermediate transmission mechanism, the problem of low integrated level and low precision straight drive；Realize driving load and complete three dimensionality finite angle athletic performance, do not acted by multiple motors and intermediate transmission mechanism realization, with high integrated level and the straight drive characteristic of high accuracy, simultaneously, the load mounting disc of the motor can adapt to the installation of various loads, with very high versatility and simple in construction, it is easy to produce in batches.
Description
Technical field
The utility model belongs to commercial Application motor technology field, is related to three dimensionality finite angle globular motor.
Background technology
With the development of science and technology the application of movement mechanism with multiple degrees of freedom is more and more wider.Traditional multifreedom motion
It is to be realized by more single-degree-of-freedom motors joint, inevitably brings that mechanism is huge, transmission accuracy is low, control difficulty etc. is asked
Topic.The research of multi-freedom electric motor and control system is increasingly paid attention to, wherein, globular motor and the tradition of three-degree-of-freedom motion
Multiple degrees of freedom transmission mechanism compare, have the characteristics that simple in construction, rotator inertia is low, precision is high, dynamic property is good, have
Wider application prospect, but it is also more complicated the problem of be related to.
With the development of design of electrical motor, control technology and Power Electronic Technique, the spherical motor of multiple structural forms
Continue to bring out, constitute following developing direction of multiple degrees of freedom transmission mechanism, domestic and foreign scholars are carried out to a variety of spherical motors
Cross research.Double-fed spherical motor stator and rotor use Distributed Winding, and rotor needs to feed, and electric machine structure is complicated；Permanent magnetism ball
Shape stepping motor stator and rotor pole is cylindrical structural, increases the volume of motor, and to stator and rotor in running
Conformability on geometry calculates more complicated；Meanwhile existing multi-freedom degree spherical motor not driving load realization side
Position, pitching, the interior motion of finite angle of three rotation dimensions of roll, and be both needed to realize action by intermediate transmission mechanism, and
Load can not be directly driven.Therefore, it need to be related to that a kind of electric machine structure is simple, and volume is moderate, realize orientation, pitching, roll three
The finite angle motion of dimension is rotated, and without the three dimensionality with high integration and the straight drive of high accuracy of intermediate transmission mechanism
Globular motor.
Utility model content
The purpose of this utility model is to provide three dimensionality finite angle globular motor, overcomes globular motor in the prior art
It is complicated, it is bulky, it is impossible to and driving load is realized moves in the finite angle of three orientation, pitching, roll rotation dimensions,
And need to be by intermediate transmission mechanism driving load, the problem of low integrated level and low precision straight drive.
Technical scheme is used by the utility model：
Three dimensionality finite angle globular motor, including cup dolly, sphere arc coil is installed on the cup dolly
Unit, in addition to circular load mounting disc, described load mounting disc one end are provided with two arc inner yokes, and the inner yoke is another
One end is installed on the ball bearing that cup dolly center is set, and arc-shaped permanent magnet is provided with the outside of each inner yoke circular arc
And outer yoke, the outer yoke are placed on the outside of permanent magnet circular arc, the coil unit be placed in the exterior arc surface of the permanent magnet with
In space between outer yoke circular arc inner arc surface.
The characteristics of the utility model, also resides in：
Four sets of coils unit, respectively first coil unit, the second coil unit, the 3rd are installed on the cup dolly
Coil unit, the 4th coil unit, and every group of coil unit is shaped to spherical arc by coil a, coil b and coil c and coil d
Shape and diametrically overlapping combinations form.
Two opposite polarity permanent magnets of circular arc external surface, each two institute are provided with the outside of each inner yoke circular arc
State permanent magnet and share an outer yoke, the corresponding permanent magnet of every group of coil unit.
The cup dolly be connected to ball bearing it is cylindrical on, the inner yoke is connected in the inner circle of ball bearing.
The inner yoke is integral type structure with load mounting disc, and the inner yoke, permanent magnet, outer yoke and load are installed
Disk forms mover.
The inner yoke, permanent magnet, coil unit, outer yoke are arranged concentrically.
The coil unit is formed by copper wire winding.
The inner yoke is made with outer yoke of permeability magnetic material.
The beneficial effects of the utility model are：
The utility model three dimensionality finite angle globular motor, passes through the coil unit installed in circular base plate and its connection
In the inner yoke on the ball bearing set in circular base plate, permanent magnet, outer yoke and load mounting disc, existing skill is overcome
Globular motor is complicated in art, bulky, it is impossible to which driving load realizes azimuth dimension, pitching dimension, roll dimension three
Rotate in the finite angle of dimension and move, and driving load need to be carried out by intermediate transmission mechanism, low integrated level and low precision are directly driven
The problem of property；The globular motor of run action in the finite angle of three orientation, pitching, roll dimensions is realized, not by more
Individual motor and intermediate transmission mechanism realization action, characteristic is directly driven with high integrated level and high accuracy, meanwhile, the motor is born
Carry mounting disc and can adapt to the installations of various loads, there is very high versatility and simple in construction, be easy to produce in batches.
Four sets of coils unit is installed, every group of coil unit is by two azimuth pitches on cup dolly described in the utility model
Coil and two roll loop shapings are into sphere arc and diametrically overlapping combinations form, it has very strong machinery strong
Degree, be unlikely to deform, wherein azimuth pitch coil be responsible for driving load realize orientation, two dimensions of pitching finite angle in run
Action, roll coil are responsible for driving load and realize run action in the finite angle of roll dimension, and simple structure design is realized
Moved in high accuracy three-dimensional degree finite angle.
Two opposite polarity permanent magnets of circular arc external surface are provided with the outside of each inner yoke circular arc in the utility model,
Described two permanent magnets share an outer yoke, the corresponding permanent magnet of every group of coil unit so that every group of coil unit has
Good stability and controllability, while orientation, pitching and the roll three dimensionality of globular motor of the present utility model are turned
Angular movement has higher accuracy and integration.
In the utility model cup dolly be connected to ball bearing it is cylindrical on, the inner yoke is connected to ball bearing
In inner circle.So that inner yoke, outer yoke and load mounting disc are supported, while globular motor each several part phase can be realized
On self-movement without influenceing each other.
Inner yoke is arranged to integral structure with load mounting disc in the utility model, simplifies structure design so that ball
The maintenance of shape motor disassembling is more convenient, meanwhile, inner yoke, permanent magnet, coil unit, outer yoke are arranged concentrically so that this
Utility model three dimensionality finite angle globular motor further realizes the advantages that rotator inertia is low, precision is high, dynamic property is good,
In addition, this structure design reduces motor volume, space is saved.
Inner yoke is made with outer yoke of permeability magnetic material in the utility model, to strengthen permanent magnet extrados to outer magnetic
Motor gas-gap magnetic between yoke intrados is close.
Brief description of the drawings
Fig. 1 is the utility model three dimensionality finite angle globular motor dimensional structure diagram；
Fig. 2 is the dimensional structure diagram of the utility model center line coil unit and base；
Fig. 3 is the utility model coil unit three-dimensional structural representation；
Fig. 4 is the dimensional structure diagram of mover in the utility model；
Fig. 5 is the dimensional structure diagram of mover and base in the utility model；
Fig. 6 is the utility model center line coil unit and permanent magnet dimensional structure diagram.
In figure, 1. cup dollies, 2. ball bearings, 3. permanent magnets, 4. first coil units, 5. second coil units, 6.
Tertiary coil unit, 7. the 4th coil units, 8. coil a, 9. coil b, 10. coil c, 11, coil d, 12. load mounting discs,
13. inner yoke, 14. outer yokes.
Embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
As shown in figure 1, three dimensionality finite angle globular motor, including cup dolly 1, four groups are provided with cup dolly 1
Sphere arc coil unit, as shown in Fig. 2 four sets of coils unit is respectively first coil unit 4, the second coil unit the 5, the 3rd
Coil unit 6, the 4th coil unit 7, as shown in figure 3, every group of coil unit is by coil a8, coil b9 and coil c10 and coil
D11 is shaped to sphere arc and diametrically overlapping combinations form, its coil a8, coil b9 are responsible for driving load realization
Run action in the finite angle of roll dimension, coil c10 and coil d11 are responsible for driving load and realize two orientation, pitching dimensions
Run action in the finite angle of degree；As shown in figure 4, also include circular load mounting disc 12, described load mounting disc 12 one end
Integrative installation technology has two arc inner yokes 13, and arc-shaped permanent magnet 3 and outer yoke 14 are provided with the outside of each circular arc of inner yoke 13,
Permanent magnet 3 described in each two shares an outer yoke 14, and each outer yoke 14 is placed on the outside of the circular arc of permanent magnet 3, interior magnetic
Yoke 13, permanent magnet 3, outer yoke 14 and load mounting disc 12 form mover；As shown in figure 5, the cup dolly 1 is attached to
The ball bearing 2 of setting it is cylindrical on, inner yoke 13 is connected in the inner circle of ball bearing 2；Each coil unit is placed in institute
State in the space between the exterior arc surface of permanent magnet 3 and the circular arc inner arc surface of outer yoke 14, and inner yoke 13 and outer yoke 14 are all
Made using permeability magnetic material, it is close to the space between the outer yoke intrados i.e. magnetic of motor gas-gap to strengthen the extrados of permanent magnet 3；
As shown in figure 5, it is provided with the opposite polarity permanent magnet 3 of two circular arc external surfaces, each two on the outside of each circular arc of inner yoke 13
The permanent magnet 3 shares an outer yoke 14, as shown in fig. 6, the corresponding permanent magnet 3 of every group of coil unit；The inner yoke
13rd, permanent magnet 3, coil unit, outer yoke 14 are arranged concentrically, and it is excellent to can be achieved that rotator inertia is low, precision is high, dynamic property is good etc.
Point, in addition, this structure design reduces motor volume, save space.
The utility model three dimensionality finite angle globular motor operation principle is as follows：
According to electromagnetic principle, as the coil a8 on the coil unit 5 of first coil unit 4 and second and tertiary coil unit 6
With the coil b9 on the second coil unit 7 be powered caused by polarity (polarity described herein all refers to after each coil electricity just
To the polarity of the side of permanent magnet 3) respectively with its corresponding to (polarity described herein all refers to each permanent magnetism with the polarity of permanent magnet 3
The polarity of the face coil side of body 3) identical, coil b9 and tertiary coil list on the coil unit 5 of first coil unit 4 and second
The 6 and second coil a8 on coil unit 7 of member be powered caused by polarity respectively with it corresponding to the polarity with permanent magnet 3
When opposite, motor driving load is moved along a direction of roll dimension, while the reversely electrical current of above-mentioned coil, motor drive
Dynamic load is moved along another direction of roll dimension.
When on every group of coil unit coil c10 be powered caused by polarity respectively with its corresponding to permanent magnet 3
Polarity it is identical, coil d11 in every group of coil unit be powered caused by polarity respectively with its corresponding to permanent magnet 3
Opposite polarity when, motor driving load is moved along a direction of azimuth dimension, at the same reversely above-mentioned coil electrical current,
Motor driving load is moved along another direction of azimuth dimension.
As the coil c10 on first coil unit 4 and tertiary coil unit 6 and the second coil unit 5 and the 4th coil list
Member 7 on coil d11 be powered caused by polarity respectively with it corresponding to, first coil identical with the polarity of permanent magnet 3
Coil c10 on coil d11 and the second coil unit 5 and the 4th coil unit 7 on unit 4 and tertiary coil unit 6 is powered
Caused polarity respectively with its corresponding to the opposite polarity with permanent magnet 3 when, motor driving load is along pitching dimension
One direction motion, while the reversely electrical current of above-mentioned coil, another direction fortune of the motor driving load along pitching dimension
It is dynamic.
Above-mentioned load movement state can be the motion that the motion of single dimension can also be any superposition dimension, load
Any point in whole moving region can be reached by free routing.
By the above-mentioned means, the utility model three dimensionality finite angle globular motor overcomes globular motor in the prior art
It is complicated, it is bulky, it is impossible to and driving load is realized moves in the finite angle of three orientation, pitching, roll rotation dimensions,
And need to be by intermediate transmission mechanism, the problem of low integrated level and low precision straight drive；Realizing driving load completion three dimensionality has
Rotating angle movement action is limited, is not acted by multiple motors and intermediate transmission mechanism realization, there is high integrated level and high accuracy
Straight drive characteristic, meanwhile, the load mounting disc of the motor can adapt to the installation of various loads, have very high versatility and knot
Structure is simple, is easy to produce in batches.
Claims (8)
1. three dimensionality finite angle globular motor, it is characterised in that including cup dolly (1), installed on the cup dolly (1)
There are sphere arc coil unit, in addition to circular load mounting disc (12), described load mounting disc (12) one end is provided with two
Arc inner yoke (13), inner yoke (13) other end are installed on the ball bearing (2) that cup dolly (1) center is set,
Arc-shaped permanent magnet (3) and outer yoke (14) are provided with the outside of each inner yoke (13) circular arc, the outer yoke (14) is placed in
On the outside of permanent magnet (3) circular arc, the coil unit is placed in the exterior arc surface and outer yoke (14) circular arc inner circle of the permanent magnet (3)
In space between cambered surface.
2. three dimensionality finite angle globular motor as claimed in claim 1, it is characterised in that pacify on the cup dolly (1)
Equipped with four sets of coils unit, respectively first coil unit (4), the second coil unit (5), tertiary coil unit (6), the 4th line
Coil unit (7), and every group of coil unit is shaped to sphere by coil a (8), coil b (9) and coil c (10) and coil d (11)
Arc and diametrically overlapping combinations form.
3. three dimensionality finite angle globular motor as claimed in claim 2, it is characterised in that each inner yoke (13) circle
Two opposite polarity permanent magnets of circular arc external surface (3) are provided with the outside of arc, permanent magnet (3) described in each two is shared outside one
Yoke (14), the corresponding permanent magnet (3) of every group of coil unit.
4. three dimensionality finite angle globular motor as claimed in claim 1, it is characterised in that cup dolly (1) connection
In ball bearing (2) it is cylindrical on, the inner yoke (13) is connected in the inner circle of ball bearing (2).
5. three dimensionality finite angle globular motor as claimed in claim 1, it is characterised in that the inner yoke (13) and load
Mounting disc (12) is integral type structure, the inner yoke (13), permanent magnet (3), outer yoke (14) and load mounting disc (12) group
Into mover.
6. three dimensionality finite angle globular motor as claimed in claim 1, it is characterised in that the inner yoke (13), permanent magnetism
Body (3), coil unit, outer yoke (14) are arranged concentrically.
7. three dimensionality finite angle globular motor as claimed in claim 1, it is characterised in that the coil unit by copper cash around
System forms.
8. three dimensionality finite angle globular motor as claimed in claim 1, it is characterised in that the inner yoke (13) and outer magnetic
Yoke (14) is made of permeability magnetic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720618088.2U CN206834971U (en) | 2017-05-31 | 2017-05-31 | Three dimensionality finite angle globular motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720618088.2U CN206834971U (en) | 2017-05-31 | 2017-05-31 | Three dimensionality finite angle globular motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206834971U true CN206834971U (en) | 2018-01-02 |
Family
ID=60773682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720618088.2U Active CN206834971U (en) | 2017-05-31 | 2017-05-31 | Three dimensionality finite angle globular motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206834971U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2017
- 2017-05-31 CN CN201720618088.2U patent/CN206834971U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102060060A (en) | Electromagnetically-driven spherical robot | |
| US10532832B2 (en) | Magnetic levitation reaction sphere | |
| CN101282070A (en) | Three-freedom Halback array permanent magnetism sphericity synchronous motor | |
| CN102480253B (en) | Permanent-magnet rotor deflection-type three-degree-of-freedom motion motor | |
| CN104836408B (en) | A kind of six degree of freedom permanent-magnet synchronous magnetic suspension spherical motor | |
| US10597172B2 (en) | Magnetic-fluid momentum sphere | |
| CN101557184B (en) | Magnetic suspension spherical electromotor system | |
| CN108988574A (en) | Vertical magnetic transmission power generation device | |
| CN201403041Y (en) | Three-freedom-degree motion permanent magnetic spherical stepping motor | |
| CN113192718B (en) | Method and apparatus for generating a magnetic field | |
| CN202085108U (en) | Orthogonal winding type magnetic suspension spherical induction motor | |
| CN102195537A (en) | Partitioned winding magnetic suspension spherical induction motor | |
| CN202260935U (en) | Permanent magnetic rotor deflection type three-degree-of-freedom motion motor | |
| CN206834971U (en) | Three dimensionality finite angle globular motor | |
| CN108448867A (en) | A kind of permanent magnetism spherical motor with outer-rotor structure | |
| CN109450218B (en) | Spherical motor based on magnetic resistance minimum principle | |
| CN105108746A (en) | Multi-degree-of-freedom joint robot arm | |
| CN107425695A (en) | A kind of three dimensionality finite angle globular motor | |
| CN106683710B (en) | Three-degree-of-freedom motion platform | |
| CN209860766U (en) | Three-freedom-degree spherical motor adopting simplified Halbach permanent magnet array | |
| CN109802513B (en) | Permanent magnet rotor driving type multi-degree-of-freedom motion motor | |
| CN109617360B (en) | Multi-freedom-degree rotation and linear compound motion motor | |
| CN201536310U (en) | Magnetic suspension spherical magnetic-resistance electric motor | |
| JP2021182838A (en) | Magnetic power generation/electric (automatic propulsion) system (no need for thermal power, hydraulic power, wind power, nuclear power, etc.) | |
| CN103925293A (en) | Radial hybrid magnetic bearing of slice rotor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |