CN209860766U - Three-freedom-degree spherical motor adopting simplified Halbach permanent magnet array - Google Patents
Three-freedom-degree spherical motor adopting simplified Halbach permanent magnet array Download PDFInfo
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- CN209860766U CN209860766U CN201920937286.4U CN201920937286U CN209860766U CN 209860766 U CN209860766 U CN 209860766U CN 201920937286 U CN201920937286 U CN 201920937286U CN 209860766 U CN209860766 U CN 209860766U
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Abstract
The utility model discloses an adopt three degree of freedom spherical motor of simplifying Halbach permanent magnet array, structural divide into two big modules of spherical shell shape stator and spherical rotor, wherein the spherical shell shape stator adopts the frame shape coil, does not have the three degree of freedom permanent magnetism spherical motor of first branch coil, and rotor supporting mechanism adopts the ball bearing of adjustable feed volume, and the stator coil is coiled into the frame shape, and rotor permanent magnet adopts gapped simplification Halbach permanent magnet array, and each permanent magnet is the square. The utility model discloses can support the spherical rotor of different diameters, have the every single move motion scope of great rotor, the stator magnetic field clearance of production is little, and the electromagnetic force blind area is little, simultaneously because each permanent magnet size is unanimous, can adopt same mould to take shape during manufacturing, and same direction magnetizes, reduces manufacturing cost by a wide margin.
Description
Technical Field
The utility model belongs to the technical field of spherical motor design and manufacturing, concretely relates to rotor adopts and simplifies Halbach permanent magnet array, and the stator adopts three degree of freedom permanent magnet spherical motor of frame shape coil.
Background
The motor is used as a main power source in the industrial field due to the convenience of energy transmission, the accuracy of control and the directness of combination with a computer, promotes the industrial progress and continuously adapts to new requirements provided by industrial application. With the practical requirements and development of industrial automation on industrial robots, particularly multi-degree-of-freedom motion mechanical arms, the motion mode of the motor is developed from simple one-dimensional circular rotation to multi-degree-of-freedom motion. And a plurality of single-degree-of-freedom motors are combined in series/parallel, each motor executes one-dimensional motion, and the spherical motor can execute the multiple-degree-of-freedom motion by a single motor. And because its compact structure does not have the motion error to accumulate, the motion mode is nimble, and especially adapted installation or motion space are narrow and small occasion have extensive application prospect in fields such as robot arm, joint.
To date, scholars at home and abroad have conducted extensive research on the design and manufacture of spherical motors, and have gained abundant experience accumulation, and various spherical motors are generated, wherein the permanent magnet spherical motors are the most common. However, the existing permanent magnet spherical motor has the following problems: (1) the range of rotor pitching motion is small. (2) The coil adopts the cylindrical structure of concentrated coiling on the cylindrical bobbin, and the clearance is great and distribute inhomogeneous difference between coil and the coil, leads to stator magnetic field to have the clearance of inhomogeneous size, produces the electromagnetic force blind area. Meanwhile, because the stator driving coils are distributed and dispersed, the rotor has to adopt a design with a large number of permanent magnets, so that the magnetic field of the motor is very complicated, the electrification control is difficult, and the moment generated by the rotor is small. (3) The Halbach permanent magnet array is particularly suitable for being applied to a spherical motor due to the advantage of high magnetic field sine degree. However, due to the spherical space structure of the rotor, the standard Halbach array requires that the permanent magnet is a complicated polyhedron with a fan-shaped section and a spherical side surface, and the magnetizing directions have a plurality of different directions, so that the manufacturing difficulty and the cost of the rotor are greatly increased. For example, in the patent CN200810053083, which is a patent of the published invention, as a comparison, the stator of the comparison patent adopts three layers of cylindrical coils, and first, the effect of the electromagnetic force generated by the upper layer coil and the lower layer coil is the same, the control function of the upper layer coil can be completely replaced by the lower layer coil at the spherical symmetrical position, and the pitch range of the rotor is obviously limited; and secondly, the magnetic field generated by the cylindrical coil has obvious intervals, and the magnetic field intervals of the middle layer and the upper and lower layer coils are different in size. Aiming at the problem, the stator coil of the upper hemispherical surface is eliminated, and the pitching motion range of the rotor is expanded; and a frame-shaped coil is adopted, so that the magnetic field of the stator coil is ensured to cover the spherical surface of the rotor without clearance. The rotor permanent magnet of the comparison patent adopts a fan-shaped Halbach permanent magnet array, and has 4 different magnetizing directions, wherein 2 directions are difficult to accurately magnetize, so that higher manufacturing cost is brought; and each permanent magnet is directly and closely contacted, so that the installation is difficult. To this problem, the utility model discloses a full cube simplifies Halbach permanent magnet array, has reduced manufacturing cost and the installation degree of difficulty.
The problems are not well solved, and the permanent magnet spherical motor is difficult to realize industrialization and wide application at present.
SUMMERY OF THE UTILITY MODEL
To solve the above-mentioned problem, the present invention provides a three-degree-of-freedom spherical motor employing a simplified Halbach permanent magnet array.
The utility model discloses the concrete technical scheme who adopts as follows: a three-degree-of-freedom spherical motor adopting a simplified Halbach permanent magnet array is structurally divided into a spherical shell-shaped stator and a spherical rotor, wherein the spherical shell-shaped stator comprises a stator shell, a motor base, a through hole, a universal ball, a rotor mandril for adjusting the feeding amount of the universal ball, a stator upper coil, an upper coil bobbin, a stator lower coil, a lower coil bobbin, a rotor ball, a torque output shaft, the simplified Halbach permanent magnet array, a spherical cover plate and a double-end nut;
the stator shell is a non-ferromagnetic shell which is arranged on a motor base, the inner cavity of the stator shell is spherical, the top of the stator shell is provided with a larger opening, the bottom of the stator shell is symmetrically provided with through holes for placing a universal ball for supporting a spherical rotor and a rotor mandril for adjusting the feeding amount of the universal ball, a plurality of upper-layer coils and lower-layer coils of the stator are placed on one circle of the equator of the stator shell and one lower circle parallel to the equator of the stator shell, the upper-layer coils and the lower-layer coils of the stator are respectively wound on an upper-layer coil bobbin and a lower-layer coil bobbin, and the upper-layer;
the rotor spheroid is laid in the stator housing intracavity, through universal ball and stator housing sliding contact, changes the centre of sphere position of universal ball through adjusting rotor ejector pin feed volume, adjustment stator housing and spherical rotor's that can be convenient concentricity, and supports the spherical rotor of different diameters, simplifies the shallow a week that buries at rotor spheroid equator of Halbach permanent magnet array to cover with the sphere cover plate, rotor torque output shaft passes through double-end nut and installs on the rotor spheroid.
The driving coils are uniformly distributed on the equator position and the lower hemispherical surface of the shell of the spherical shell-shaped stator along the circumference, the stator coil on the upper hemispherical surface is omitted, the top opening of the stator shell is enlarged, the pitching motion range of the rotor is enlarged, and a larger mounting space is reserved for the position and torque detection sensor.
The spherical shell-shaped stator adopts a frame-shaped coil wound on a frame-shaped bobbin, the spherical surface of an inner cavity of the stator is basically covered in a seamless mode, gaps between the upper layer and the lower layer and between the left and right adjacent coils are small, a gap of a generated stator magnetic field is small, and a blind area of generated electromagnetic force is small.
The spherical rotor is a spherical shell embedded with permanent magnets, the rotor permanent magnets are a plurality of cubes, the cubes are annularly arranged on the equator of a rotor sphere in a circle according to a Halbach rule according to the magnetizing direction, all the permanent magnets are of cube structures of the same size and are formed by the same die under the condition that the air gap flux density waveform is not seriously deteriorated, the magnets are magnetized in the same direction, and the magnets are arranged in a Halbach mode only when the rotors are embedded.
Adopt the utility model discloses the technological effect that can realize has:
1. adopt adjustable ball bearing structure, conveniently adjust stator rotor concentricity, and support the spherical rotor of different diameters.
2. The upper half coil of the stator is eliminated, the pitching motion range of the rotor is expanded, and a larger installation space is reserved for sensors for position and moment detection and the like.
3. The coil is wound into a frame shape, the gap between the upper layer and the lower layer and between the left and right adjacent coils is small, the gap of the generated stator magnetic field is small, and the blind area of the generated electromagnetic force is small.
4. A simplified Halbach permanent magnet array with gaps is employed. Because the sizes of the permanent magnets are consistent, the permanent magnets can be formed by adopting the same die in the manufacturing process and magnetized in the same direction, and only need to be arranged in a Halbach mode in the installation process, so that the manufacturing cost is greatly reduced.
Drawings
FIG. 1 is an overall structure diagram of a three-degree-of-freedom spherical motor adopting a Halbach permanent magnet array;
FIG. 2 is a view of a spherical shell stator;
FIG. 3 is a view of a middle layer coil;
FIG. 4 is a view of the lower coil structure;
FIG. 5 is a view showing the construction of the carrier rod and the universal ball;
FIG. 6 is a view of a spherical rotor structure;
fig. 7 is a simplified Halbach permanent magnet arrangement and flux density waveform comparison, wherein fig. 7(a) is a diagram of a relationship between a permanent magnet position and a magnetizing direction, and fig. 7(b) is a comparison of a simplified Halbach permanent magnet adopted by the invention, a sector Halbach permanent magnet before simplification, and a rectangular or cylindrical permanent magnet of a non-Halbach array to generate a gap flux density waveform.
Reference numerals: 1 is stator housing, 2 is motor base, 3 is the through-hole, 4 is universal ball, 5 is the rotor ejector pin, 6 is upper stator coil, 7 is upper coil spool, 8 is lower floor's stator coil, 9 is lower floor's coil spool, 10 is the rotor spheroid, 11 is rotor torque output shaft, 12 is for simplifying Halbach permanent magnet array, 13 is the spherical cover plate, 14 is double-end nut.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The utility model relates to an adopt the three degree of freedom spherical motor of simplifying Halbach permanent magnet array, structurally divide into two big modules of spherical shell shape stator and spherical rotor. The spherical shell-shaped stator comprises a stator shell, a stator coil, a rotor mandril and other components, and the spherical rotor comprises rotor magnetic steel, a rotor ball body, an output rod and other components.
The spherical shell-shaped stator is a non-ferromagnetic shell which is arranged on a motor base, the inner cavity of the spherical shell-shaped stator is spherical, and the top of the spherical shell-shaped stator is provided with a larger opening. The bottom of the shell is symmetrically provided with through holes for placing universal balls for supporting the spherical rotor and ejector rods for adjusting the feeding amount of the universal balls. The position of the sphere center of the universal ball is changed by adjusting the feeding amount of the ejector rod, the concentricity of the stator shell and the rotor ball body can be conveniently adjusted, and spherical rotors with different diameters can be supported. Because the electric current of arbitrary coil can all be led to opposite direction electric current by another coil of spherical symmetric position and replace when spherical motor carries out pitching motion, it is different along two hemisphere symmetric distribution coils about the equatorial plane with existing spherical motor, the utility model discloses there is the drive coil at stator housing's equatorial position and lower hemisphere face along circumference evenly distributed, has cancelled the coil of hemisphere face on the stator. After the coil of the upper hemispherical surface is cancelled, the top opening of the stator shell is enlarged, the pitching motion range of the rotor is enlarged, and a larger mounting space is reserved for sensors for position detection, moment detection and the like. With the spherical motor stator that has had the adoption cylindrical coil of concentrated coiling on cylindrical spool is different, the utility model discloses a coiling is at the epaxial frame shape coil of frame shape spool, and the seamless stator inner chamber sphere that covers basically, the clearance is little about, between the adjacent coil, and produced stator magnetic field clearance is little, and it is little to produce the electromagnetic force blind area.
The spherical rotor is a sphere which is uniformly embedded with permanent magnets along the circumference of the equator and the top of which is provided with a torque output rod. The adopted permanent magnets are arranged according to the Halbach array rule. And all the permanent magnets adopt a cubic structure with the same size under the condition of ensuring that the air gap flux density waveform is not seriously deteriorated. The design can realize the same die forming and the same direction magnetizing of all the permanent magnets, and the permanent magnets are arranged in a Halbach mode only when being embedded into the rotor. Because the magnetic steel is not spherical on one side of the spherical surface, a spherical cover plate fixed on the end face of the spigot is required to be used for filling. A non-through cylindrical cavity is dug in the rotor ball body to reduce the overall mass and the rotational inertia of the rotor. A double-headed nut is adopted to install the rotor torque output shaft, one end of the nut is installed on the bottom surface of the cylindrical cavity, and the other end of the nut is installed at the bottom of the rotor torque output shaft.
As shown in fig. 1, a three-degree-of-freedom spherical motor using a simplified Halbach permanent magnet array is structurally divided into two large modules, namely a spherical shell stator and a spherical rotor. Spherical shell shape stator includes stator housing 1, motor base 2, stator coil (including upper stator coil 6, upper coil spool 7, lower floor stator coil 8, lower floor coil spool 9), rotor ejector pin 5 etc. and spherical rotor includes rotor spheroid 10, rotor moment output shaft 11, simplifies Halbach permanent magnet array 12 etc..
The detailed structure of the spherical shell-shaped stator in fig. 1 is shown in fig. 2, the stator shell 1 is a shell with an opening at the top and a spherical inner cavity, and the spherical shell of the prototype stator is made of PC material. A circle of 12 upper-layer stator coils 6 are arranged on the equator of the stator, and the included angle of longitude between the upper-layer stator coils is 30 degrees. There are 12 lower floor stator coils 8 of a round in upper layer stator coil below, and the longitude contained angle between the stator coil of lower floor is 30, and the latitude contained angle between upper stator coil 6 and the stator coil 8 of lower floor is 30. Five through holes 3 are symmetrically arranged at the bottom of the stator spherical shell and used for placing universal balls 4 for supporting the spherical rotor and rotor mandrils 5 for adjusting the feeding amount of the universal balls.
The upper-layer stator coil 6 shown in fig. 2 is shown in detail in fig. 3, and has a cross-sectional structure in which concentrated windings are wound on an H-shaped bobbin. In order to better fit the spherical surface of the rotor, the inner surface of the upper coil bobbin 7 is of a spherical structure. In order to make the stator coil more fully cover the spherical surface of the space, the shaft and the outer frame of the upper layer bobbin are square, and the upper layer coil wound and shaped on the upper layer bobbin is also in the shape of a spherical frame.
The detailed structure of the lower stator coil 8 shown in fig. 2 is shown in fig. 4, and its cross-sectional structure is also a concentrated winding wound on an H-shaped bobbin, and the inner surface of the bobbin is also a spherical structure. Unlike the upper-layer stator coil 6 and the upper-layer coil bobbin 7 which are located on the equatorial plane, the lower-layer stator coil 8 and the lower-layer coil bobbin 9 have a spherical trapezoid shape with a large upper portion and a small lower portion.
The detailed structure of the spherical rotor in fig. 1 is shown in fig. 6, and the rotor is in sliding contact with the stator through the universal ball 4 and the rotor top rod 5 which are arranged at the bottom of the stator spherical shell and are shown in fig. 5. Rotor moment output shaft 11 is installed at rotor spheroid 10 top, and rotor spheroid 10 is inside to have a cylinder cavity that does not link up, and double-end nut 14 one end is installed in cylinder cavity bottom surface, and the bottom at rotor moment output shaft 11 is installed to the other end. A simplified Halbach permanent magnet array 12 is embedded in the rotor sphere 10 along the circumference of the equator, and the permanent magnets are filled with four sections of spherical cover plates 13 fixed on the end face of the spigot towards one side of the spherical surface and are polished smoothly.
The simplified Halbach permanent magnet array 12 shown in fig. 6 is arranged in a magnetizing manner as shown in fig. 7, and all the permanent magnets are of a cube structure with the same size and are arranged in a Halbach manner when being embedded into a rotor. The rotor of the prototype is designed to be a magnetic field with eight poles and is formed by arranging sixteen cube permanent magnets. Compare under the radial thickness the same condition, the utility model discloses the air gap flux density wave form that adopts and simplify Halbach permanent magnet array 12 and fan-shaped Halbach permanent magnet array of standard, eight rectangles, eight cylinder permanent magnets and produce is to for example figure 7.
Claims (4)
1. The utility model provides an adopt three degree of freedom spherical motor of simplifying Halbach permanent magnet array which characterized in that: the structure of the spherical shell-shaped stator is divided into two modules, namely a spherical shell-shaped stator and a spherical rotor, wherein the spherical shell-shaped stator comprises a stator shell (1), a motor base (2), a through hole (3), a universal ball (4) and a rotor mandril (5) for adjusting the feeding amount of the universal ball (4), an upper layer stator coil (6), an upper layer coil bobbin (7), a lower layer stator coil (8), a lower layer coil bobbin (9), a rotor sphere (10), a rotor torque output shaft (11), a simplified Halbach permanent magnet array (12), a spherical cover plate (13) and a double-end nut (14);
the stator comprises a stator shell (1), a motor base (2), a spherical inner cavity, a non-ferromagnetic shell with a larger opening at the top, through holes (3) symmetrically formed at the bottom, a universal ball (4) for supporting a spherical rotor and a rotor ejector rod (5) for adjusting the feeding amount of the universal ball (4), a plurality of upper-layer stator coils (6) and lower-layer stator coils (8) are placed on one circle of the equator and one lower circle parallel to the equator of the stator shell (1), the upper-layer stator coils (6) and the lower-layer stator coils (8) are wound on an upper-layer coil bobbin (7) and a lower-layer coil bobbin (9) respectively and are fixed on the stator shell (1) through the upper-layer coil bobbin (7) and the lower-layer coil bobbin (9);
rotor spheroid (10) is laid in stator housing (1) intracavity, through universal ball (4) and stator housing (1) sliding contact, through adjusting the centre of sphere position that rotor ejector pin (5) feed volume changed universal ball (4), the concentricity of adjustment stator housing (1) and spherical rotor that can be convenient, and support the spherical rotor of different diameters, simplify the shallow one week that buries in rotor spheroid (10) equator of Halbach permanent magnet array (12), and cover with sphere cover plate (13), rotor moment output shaft (11) are installed on rotor spheroid (10) through double-end nut (14).
2. The three-degree-of-freedom spherical motor adopting the simplified Halbach permanent magnet array according to claim 1, is characterized in that: according to the spherical shell-shaped stator, the driving coils are uniformly distributed on the equator position and the lower hemispherical surface of the shell along the circumference, the stator coil on the upper hemispherical surface is omitted, the top opening of the stator shell is enlarged, the pitching motion range of the rotor is enlarged, and a larger mounting space is reserved for the position and torque detection sensor.
3. The three-degree-of-freedom spherical motor adopting the simplified Halbach permanent magnet array according to claim 1, is characterized in that: the spherical shell-shaped stator adopts the frame-shaped coil wound on the frame-shaped bobbin, the spherical surface of the inner cavity of the stator is basically covered in a seamless mode, gaps between the upper layer and the lower layer and between the left adjacent coil and the right adjacent coil are small, the gap of a generated stator magnetic field is small, and the blind area of generated electromagnetic force is small.
4. The three-degree-of-freedom spherical motor adopting the simplified Halbach permanent magnet array according to claim 1, is characterized in that: the spherical rotor is a spherical shell embedded with permanent magnets, the rotor permanent magnets are of a plurality of cubes, the cubes are annularly arranged on the equator of a rotor sphere in a circle according to a Halbach rule according to the magnetizing direction, under the condition that the air gap flux density waveform is not seriously deteriorated, all the permanent magnets are of a cube structure with the same size, are formed by adopting the same die, are magnetized in the same direction, and are only arranged according to a Halbach mode when the rotor is embedded and placed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920937286.4U CN209860766U (en) | 2019-06-21 | 2019-06-21 | Three-freedom-degree spherical motor adopting simplified Halbach permanent magnet array |
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| CN201920937286.4U CN209860766U (en) | 2019-06-21 | 2019-06-21 | Three-freedom-degree spherical motor adopting simplified Halbach permanent magnet array |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110224566A (en) * | 2019-06-21 | 2019-09-10 | 安徽大学 | A kind of three degree of freedom spherical motor using simplified Halbach permanent array |
| CN113300513A (en) * | 2021-04-23 | 2021-08-24 | 华中科技大学 | Multi freedom motor |
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2019
- 2019-06-21 CN CN201920937286.4U patent/CN209860766U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110224566A (en) * | 2019-06-21 | 2019-09-10 | 安徽大学 | A kind of three degree of freedom spherical motor using simplified Halbach permanent array |
| CN113300513A (en) * | 2021-04-23 | 2021-08-24 | 华中科技大学 | Multi freedom motor |
| CN113300513B (en) * | 2021-04-23 | 2022-05-13 | 华中科技大学 | Multi freedom motor |
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