CN209105007U - Spherical motor based on magnetic resistance minimum principle - Google Patents
Spherical motor based on magnetic resistance minimum principle Download PDFInfo
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- CN209105007U CN209105007U CN201822200879.0U CN201822200879U CN209105007U CN 209105007 U CN209105007 U CN 209105007U CN 201822200879 U CN201822200879 U CN 201822200879U CN 209105007 U CN209105007 U CN 209105007U
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- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 238000004804 winding Methods 0.000 claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 9
- 238000009987 spinning Methods 0.000 claims description 5
- 229910052742 iron Inorganic materials 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 210000000515 tooth Anatomy 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
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- 230000005540 biological transmission Effects 0.000 description 3
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- 238000000034 method Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000004907 flux Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 210000000528 lesser trochanter Anatomy 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model relates to a spherical motor based on the minimum magnetic resistance principle, which comprises a motor rotor, a rotor spherical shell, an outer stator, a base, a support bearing on the base, an end cover, a fixed bearing on the end cover and an output shaft; the rotor is of a 6-pole salient pole structure and is not provided with a winding, the inner side of a rotor spherical shell is fixedly connected with the rotor magnetic pole teeth to form a hollow sphere, and the output shaft penetrates through the hollow sphere and is fixedly connected with the top of the hollow sphere; the outer stator comprises a stator core, a winding coil and a stator shell, the stator core is divided into an autorotation stator core distributed along the equator and an inclined stator core distributed along the meridian, the two parts of the autorotation stator core are overlapped in the equator direction, 8 salient pole teeth are uniformly distributed on the inner side of the autorotation stator core along the equator, 5 salient pole teeth are distributed on the inner side of each section of the inclined stator core at equal latitude intervals, and each pole tooth is wound with a magnet exciting coil. The utility model discloses spherical motor can realize three degree of freedom motions, and its motor structure is simple, and the system complexity is low, and rotor position detects more easily, therefore system control precision, reliability are higher and the sound attitude characteristic is better.
Description
Technical field
The utility model relates to spherical motor technical fields, and in particular to a kind of spherical shape electricity based on magnetic resistance minimum principle
Machine.
Background technique
Currently, the precision apparatus that robot, manipulator etc. do multi-dimensional movement in space is widely applied.It is most of
This kind of multiple degrees of freedom transmission device is usually to have been come using the mechanical transmission mechanism of more single-degree-of-freedom driving elements and complexity
At the multifreedom motion in space.Therefore, a whole set of transmission device is bulky, drive mechanism is complicated, control precision is low, dynamic
Performance is poor and the efficiency and reliability of whole system is not high.Simultaneously as the presence of complicated machine driven system, is
The non-linear friction and energy loss of system are all bigger.
With the continuous development of modern industrial technology, to can be positioned in arbitrary direction in space and execute servo function
Element demand it is growing day by day, while the requirement of the precision and stability to driving mechanisms control system is higher and higher, because
This these traditional multiple degrees of freedom device has been unable to meet demand for development.And the spherical shape electricity of multifreedom motion can be done in space
Machine can satisfy basic demand, greatly simplify the complexity of system, and reduction system organization volume improves locating speed, subtracts
Few response time and enhancing stiffness of system and accuracy.But due to the particularity of various globular motor structures and principle, mesh
Preceding spherical shape electric machine structure or more complex, manufacturing processing technic is higher, and there are drive and control of electric machine, position detection and positioning
The problems such as precision, thus globular motor is not most of also very perfect, still in the laboratory research stage, be unable to practical application and
Realize industrialization.The utility model will be related to a kind of novel ball motor based on magnetic resistance minimum principle.
Utility model content
The purpose of the utility model is to provide a kind of three degree of freedom spherical motor designed based on magnetic resistance minimum principle.It should
Motor can be realized rotation and inclination three freely using the spherical structure for approximately removing two a certain size spherical crowns of sphere or more
Degree movement, the motor overall structure is very simple, have that small in size, complexity is low, drive control and position detection are simple and
The advantages that positioning accuracy and response speed of transmission system improve.
The utility model the following technical schemes are provided:
A kind of globular motor based on magnetic resistance minimum principle of the utility model, including rotor, rotor spherical shell, external stator, bottom
Seat, the spring bearing on pedestal, end cap, the fixing bearing on end cap and output shaft.
The rotor is identical as common four phases, 8/6 pole switching reluctance motor rotor structure, and 6 are evenly distributed in outer circumferential sides
A protrusion magnetic pole tooth；It is connected on the inside of the rotor spherical shell with rotor magnetic pole tooth, constitutes a hollow sphere, the output shaft is worn
Hollow sphere is crossed, and is fixedly connected with rotor spherical shell top, output shaft end is equipped with flange；
The external stator includes stator core, stator winding and stator casing；The stator core can be divided into along equator point
The rotation stator core of cloth and the inclination stator core two parts being distributed along warp；The rotation stator core is for realizing spherical shape
Motor spinning motion；The inclination stator core is made of the inclination stator core segment for waiting longitudes to be spaced apart, and the inclination is fixed
Sub- stack of lamination is identical, and shape is " C " shape ball collar shape, for realizing globular motor banking motion, the Latitude Distributions such as inside
There are 5 salient pole teeth；The stator winding coil is around concentratred winding coil on the stator teeth；The stator casing and stator iron
Heart outer surface is fixedly connected with；
The stator casing top is connected with end cap, and lower part connect with pedestal and is fixedly connected with stator core outer surface；Institute
It states and is provided with fixing bearing below end cap, the contact surface of rotor spherical shell top and fixing bearing is spherical cambered surface；On the pedestal
There is the spring bearing of supporting role；The height of the spring bearing in the base is adjustable, rotor spherical shell lower part and spring bearing
Contact surface is also spherical cambered surface；
The globular motor is internal rotor external stator type motor, is biconvex polar form structure；There is no winding on the rotor,
There is no commutator, slip ring；Concentratred winding coil is wound on each pole tooth of the stator；The rotation stator core and inclination
Stator core is overlapped along the direction that equator one is enclosed.
The utility model has the beneficial effects that:
(1), globular motor of the present invention can do three-degree-of-freedom motion in space, can substitute the mostly free of traditional complexity
Structure is spent, in multifreedom motions systems such as robot, manipulator joint, panoramic shooting head, multiple degrees of freedom laser tracking systems
It has a wide range of applications in system, can simplify the complexity of system with reduction system organization volume, improve the precision of system
Deng.
(2), globular motor of the present invention by rotor, stator, rotor spherical shell, external stator, stator winding, output shaft, end cap and
The composition such as pedestal and corresponding bearing, electric machine structure is simple, does not have any type of winding, permanent magnet, slip ring etc. on rotor, fixed
There was only simple concentratred winding on son, end is shorter, thus whole manufacture is simpler, at low cost.
(3), the bearing on globular motor end cap of the present invention is fixed, and the spring bearing on pedestal uses rotatable fixing bolt
It adjusts, make rotor between end cap and pedestal and improves the centre of sphere registration of rotor and stator, and then improve rotor
Installation accuracy keeps electric machine structure reliable, and rotor deflection friction of motion is smaller, improves output torque；Rotor is removed in rotor spherical shell
Outside it is hollow structure, rotor moment of inertia can be reduced, improves motor response speed.
(4), the spherical torque direction of the present invention is unrelated with stator winding current direction, only needs unidirectional current excitation, therefore
Power circuit can accomplish one power switch of every phase in drive system, each mutually to work independently, and system reliability improves.
(5), globular motor rotation of the present invention and banking motion are independent from each other, and the coil current of needs is calculated simultaneously
According to the position of rotor motion come the conducting and disconnection of control winding coil current, realize globular motor according to planning path into
Row step motion, and it is relatively simple to carry out position detection according to the methods of flux linkage characteristic.
Detailed description of the invention
Fig. 1 is a kind of globular motor structure chart based on magnetic resistance minimum principle of the utility model；
Fig. 2 is rotor and rotor spherical shell integral structure figure；
Fig. 3 is motor Self-rotation structure schematic diagram；
Fig. 4 is motor incline structure schematic diagram；
Fig. 5 is that motor tilts step motion schematic diagram, wherein Fig. 5 (a) is inclination angleSchematic diagram, Fig. 5 (b) are
Inclination angleSchematic diagram.
In figure: 1, rotor, 2, rotor spherical shell, 3, external stator, 4, stator core, 5, stator winding, 6, stator casing, 7, bottom
Seat, 8, end cap, 9, spring bearing, 10, fixing bearing, 11, output shaft, 12, flange, 13, spring, 14, tighten bolt, 15, from
Turn stator core, 16, inclination stator core, 17, inclination stator core segment.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the utility model.
Referring to Fig. 1, a kind of globular motor based on magnetic resistance minimum principle of the utility model, mainly by rotor 1, rotor spherical shell
2, external stator 3, pedestal 7, end cap 8, spring bearing 9, fixing bearing 10, output shaft 11 and flange 12 etc. are constituted, and external stator includes
Stator core 4, stator winding 5 and stator casing 6.Globular motor is internal rotor external stator type motor, is biconvex polar form structure, and
And rotor number of poles is different, rotor 1 and stator core 4 use silicon steel thin slice laminated structure or soft-magnetic composite material system
It makes.
Referring to Fig. 1, Fig. 2, Fig. 3, rotor 1 is identical as common four phases, 8/6 pole switching reluctance motor rotor structure, is salient pole knot
Structure is evenly distributed with 6 raised magnetic pole tooths in outer circumferential sides, and it is cambered surface on the outside of tooth that each magnetic pole tooth, which is a rotor tooth,.Turn
No winding on son, also without commutator, slip ring etc..Rotor 1 passes through rotor tooth and the rotor spherical shell 2 made of non-magnet material
It is fixedly connected with, rotor 1 and rotor spherical shell 2 constitute a hollow sphere, are conducive to the rotary inertia for reducing motor.Output shaft 11 is worn
Rotor center and rotor spherical shell 2 are crossed, is fixedly connected by tightening bolt 14 with 2 top of rotor spherical shell, output shaft end dress
There is flange 12.
Referring to Fig. 1, Fig. 4, the shape of outer stator of motor 3 is approximately sphere, including stator core 4, stator winding 5 and stator
Shell 6.Stator core 4 realizes that the different directions of rotor motion can be divided into rotation stator core 15 and inclination stator iron according to it
16 two parts of the heart.Rotation stator core 15 is similar with the stator core of common four phases, 8/6 pole switching reluctance motor, as shown in figure 3,
For the partial stator iron core being distributed along sphere equator, for realizing globular motor spinning motion；15 inside of rotation stator core is
It is even that 8 stator salient poles teeth are distributed with, there are a concentrating coil, the coil string of two diametrically opposed poles on each pole tooth
Connection connection forms a phase winding of rotation stator core, totally four phases.Tilt stator core 16 is spaced apart by equal 45 ° of longitudes 8
A inclination stator core segment 17 forms, for realizing globular motor banking motion.It is identical to tilt stator core segment 17, is
" C " shape ball collar shape, a phase of two opposite inclination stator core segment composition inclination stator cores of direction, totally four phases, tilts
19 ° of latitudes of 17 inside of stator core segment etc. is intervally distributed with 5 salient pole teeth for being wound with magnet exciting coil, two opposite inclinations of direction
A phase of diametric two pole tooth groups at inclination stator segment in stator core segment, totally five phase, as shown in Figure 4.Stator winding 5
It is approximately cylindrical shape, coil is with enameled wire coiling for the concentratred winding coil being wound on all stator tooths.
Stator casing 6 is made of non-magnet material, and top and the bottom are connected with pedestal 7 and end cap 8 respectively by threaded hole, and
It is fixedly connected with 4 outer surface of stator core, external stator 3 is made to link into an integrated entity with end cap 8 and pedestal 7.End cap 8 is with pedestal 7 by non-
Permeability magnetic material is made.The lower section of end cap 8 is provided with fixing bearing 10 made of non-magnet material, and fixing bearing 10 is embedded in end cap
On the slot that 8 lower sections open up, it is connected together with stator end cap by bolt.
Slot is offered above pedestal 7, and spring 13 is provided in slot, spring bearing 9 made of the non-magnet material on pedestal 7
It is connected by adjustable bearing fixing bolt with pedestal 7, spring 13 and bolt interaction can generate a upward power,
And fixing bearing 10 is fixed, there is downward power to spherical shell, rotor spherical shell 2 between fixing bearing 10 and spring bearing 9,
The vibration in the movement of rotor 1 can be prevented, furthermore fixing bearing 10 and spring bearing 9 can subtract using cyclic annular spherical cambered surface structure
Friction between lesser trochanter spherical shell 2 and bearing guarantees that output shaft can be realized Three Degree Of Freedom free movement when rotor motion.
The movement of the utility model three degree of freedom spherical motor is the magnetic generated by the variation of air-gap reluctance between stator and rotor
Caused by resistive torque.The magnetic field that stator winding coil energization generates, it then follows magnetic flux is always along the smallest path closure of magnetic resistance
Principle generates the electromagnetic torque that magnetic pull forms magnetic resistance property.Therefore, when the axis of rotor magnetic pole axis and magnetic pole of the stator does not weigh
When conjunction, just there is reluctance force to act on rotor and generating torque makes it be intended to the smallest position of magnetic resistance, is i.e. two axial lines are overlapped position
It sets.
The spinning motion and banking motion of globular motor are independent from each other.When globular motor rotation, principle and common
The working principle of four phases, 8/6 pole switching reluctance motor drive system is almost the same, as shown in figure 3, being turned according to position detection
Sub- magnetic pole determines the winding being excited with magnetic pole of the stator relative position information, successively rotor can be made to do stator winding power on/off
Continuous stepping spinning motion.
Magnetic resistance minimum principle is also based on when rotor banking motion.As shown in figure 4, when rotor magnetic pole axis and inclination
When stator segment C phase field axis CC ' coincidence, definition tilts mechanical angle at this timeAnd it defines rotor clockwise movement and is positive.
Such as Fig. 5 (a), when rotor magnetic pole is overlapped with inclination stator segment A phase with the B phase interpolar neutral conductor, due to tilting 19 ° of latitudes of stator tooth etc.
It is spaced apart, at this time inclination angleTo inclination stator segment C phase winding be powered, rotor because reluctance torque act on tilt rotation,
It turns over 19 ° and arrives the position as shown in Fig. 5 (b), at this time inclination angleTorque is 0.C phase winding is powered off at this time and to D phase
It is powered, rotor is moved by same torque.According to similar energization strategy, rotor being capable of continuous stepping banking motion.
Since the structure of motor limits, completing a banking motion needs counterclockwise, step motion, rotor can be inclined three times with 19 ° of intervals
Tiltedly ± 38 ° of rotation.First time stepping banking motion process counterclockwise is shown by Fig. 5 (a) to Fig. 5 (b).
It can make electricity according to certain energization strategy to different stator winding coil power on/off in rotation and inclined direction
Machine rotor does rotation and inclination step motion in a certain range, and output shaft is loaded by flanged joint, it can be achieved that loading any
The positioning campaign of position.
It is enlightenment, through the above description, relevant staff with above-mentioned foundation the utility model desirable embodiment
Completely various changes and amendments can be carried out in the range of without departing from this item utility model technical idea.This item is practical
Novel technical scope is not limited to the contents of the specification, it is necessary to determine that its is technical according to scope of the claims
Range.
Claims (3)
1. a kind of globular motor based on magnetic resistance minimum principle, it is characterised in that: including rotor (1), rotor spherical shell (2), outer fixed
Sub (3), pedestal (7), the spring bearing (9) on pedestal (7), end cap (8), the fixing bearing (10) on end cap (8) and output shaft
(11)；The rotor (1) is identical as common four phases, 8/6 pole switching reluctance motor rotor structure, be evenly distributed on outside 6 it is convex
Play magnetic pole tooth；It is connected on the inside of the rotor spherical shell (2) with rotor magnetic pole tooth, constitutes a hollow sphere, the output shaft
(11) hollow sphere is passed through, and is fixedly connected with rotor spherical shell (2) top, output shaft (11) end is equipped with flange (12)；It is described
External stator (3) includes stator core (4), stator winding (5) and stator casing (6)；The stator core (4) can be divided into along equator
The rotation stator core (15) of distribution and inclination stator core (16) two parts being distributed along warp；The rotation stator core
(15) for realizing globular motor spinning motion；The inclination stator iron for tilting stator core (16) and being spaced apart by equal longitudes
Heart section (17) composition, for realizing globular motor banking motion, the minute of latitude such as inside are furnished with 5 salient pole teeth；The stator winding
(5) coil is around concentratred winding coil on the stator teeth；The stator casing (6) is fixedly connected with stator core (4) outer surface.
2. a kind of globular motor based on magnetic resistance minimum principle as described in claim 1, it is characterised in that: the stator casing
(6) top is connected with end cap (8), and lower part connect with pedestal (7) and is fixedly connected with stator core (4) outer surface；The end cap (8)
Lower section be provided with fixing bearing (10), the contact surface of rotor spherical shell (2) top and fixing bearing (10) is spherical cambered surface；The bottom
There is the spring bearing (9) of supporting role on seat (7)；Height of the spring bearing (9) in pedestal (7) is adjustable, rotor spherical shell
(2) contact surface of lower part and spring bearing (9) is also spherical cambered surface.
3. a kind of globular motor based on magnetic resistance minimum principle as described in claim 1, it is characterised in that: the globular motor
It is biconvex polar form structure for internal rotor external stator type motor；No winding on the rotor (1), also without commutator, slip ring；
Concentratred winding coil is wound on described each pole tooth of external stator (3)；The rotation stator core (15) and inclination stator iron
The heart (16) is overlapped along the direction that equator one is enclosed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822200879.0U CN209105007U (en) | 2018-12-26 | 2018-12-26 | Spherical motor based on magnetic resistance minimum principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822200879.0U CN209105007U (en) | 2018-12-26 | 2018-12-26 | Spherical motor based on magnetic resistance minimum principle |
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| CN209105007U true CN209105007U (en) | 2019-07-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109450218A (en) * | 2018-12-26 | 2019-03-08 | 安徽大学 | Spherical motor based on magnetic resistance minimum principle |
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2018
- 2018-12-26 CN CN201822200879.0U patent/CN209105007U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109450218A (en) * | 2018-12-26 | 2019-03-08 | 安徽大学 | Spherical motor based on magnetic resistance minimum principle |
| CN109450218B (en) * | 2018-12-26 | 2024-04-09 | 安徽大学 | Spherical motor based on magnetic resistance minimum principle |
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