JP2008086131A - Multi-flexibility motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a multi-flexibility motor capable of realizing a structure of a support member for making a rotor rotatable in three dimensions relative to a stator, which is not shown conventionally. <P>SOLUTION: The multi-flexibility motor 1 rotates the rotor 2 in which a magnetic substance 5 is disposed by controlling excitation of an electromagnet 6 disposed at a stator 3. The support member 4 for supporting the rotor 2 with a predetermined interval between the stator 3 and the rotor 2 includes a ball portion 7 which is brought into contact with the rotor 2, a ball retaining portion 8 in which a recess portion 8a for disposing the ball portion 7 is formed, and a smooth portion 9 which is rotated following rotation of the ball portion 7 and disposed between the ball portion 7 and the recess portion 8a. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention belongs to the technical field of a multi-degree-of-freedom electric motor in which a spherical rotor is provided in a state in which a stator can be rotated with multiple degrees of freedom.

  In general, this type of multi-degree-of-freedom electric motor includes a stator in which a plurality of magnetic bodies are arranged in a lattice shape on the outer surface of a rotor that is a hollow sphere, and arranged at a predetermined interval on the outside of the rotor. There is known one in which a plurality of electromagnets are arranged on the inner peripheral surface and the electromagnet is controlled to be excited to rotate the rotor in an arbitrary three-dimensional direction.

  By the way, such a thing is the structure by which the stator was equipped with the support member for accept | permitting and supporting the rotation of a rotor in the three-dimensional direction, For example, as such, it is supplied from a gas cylinder. There is a support member in which the rotor is floated by the pressure of the gas (see, for example, Patent Document 1).

However, this requires gas pressure to float the rotor, but it is difficult to fill with gas so that it does not leak between the stator and the rotor. There is a problem that it is difficult to supply a gas that is resistant to the above.
Further, as such, there are support members in which a plurality of balls are arranged between the stator and the rotor (for example, see Patent Document 1 and Patent Document 2).
JP-A-5-64417 Utility Model Registration No. 3006318

  However, these are all suggested that a plurality of balls are arranged, and other details are not suggested at all. There is a problem that it is unknown whether it is used or how it is actually used.

  In addition, as far as the drawings are concerned, it appears that the ball is arranged between the electromagnet and the magnetic body, and in this case, the excitation of the electromagnet is equivalent to the arrangement of the ball. As a result, there is a problem that the distance from the magnetic body is increased, and as a result, the reaction speed and rotational torque of the rotor are reduced.

  In addition, in Patent Document 2, the ball is arranged on the rotor, and it is difficult to arrange the ball in a state where the ball is firmly held, and it is necessary to arrange the ball on all of the outer spherical surfaces of the rotor. There is a problem that the required number of balls is increased as compared with the case where they are arranged on the stator, and there is a problem to be solved by the present invention.

The present invention has been created in view of the above-mentioned circumstances and has been created for the purpose of solving these problems. The invention of claim 1 is directed to a stator having a plurality of electromagnets on an inner spherical surface, and a plurality of magnetic bodies. In a multi-degree-of-freedom electric motor comprising a spherical rotor having a spherical surface opposed to the stator at a predetermined interval and supported by the stator, the rotor is rotated in a three-dimensional direction with respect to the stator In providing a support member for freely supporting, the support member includes a spherical ball portion that rotatably contacts the rotor, a ball holding portion for rotatably holding the ball portion, the ball holding portion and the ball portion. A multi-degree-of-freedom electric motor comprising a plurality of spherical smooth portions that are provided in a gap formed between the first and second spherical portions for smooth rotation of the ball portion.
According to a second aspect of the present invention, in the support member, the end on the opposite side to the ball portion projecting through the through hole formed in the stator is fixed. Degree electric motor.

According to the invention of claim 1, a configuration that is not shown in the prior art and that supports the rotor to be rotatable in a three-dimensional direction with respect to the stator can be made concrete.
According to the invention of claim 2, the support member can be securely supported by the stator. As a result, the rotation of the rotor can be stabilized.

  Next, embodiments of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a multi-degree-of-freedom electric motor. The multi-degree-of-freedom electric motor 1 has a spherical rotor 2 and a stator 3 having a partially inner spherical shape facing a hemispherical portion of the rotor 2 with a predetermined interval. The stator 3 is provided with a support member 4 for rotatably supporting the rotor 2 in a three-dimensional direction.

In the multi-degree-of-freedom electric motor 1, a plurality of magnetic bodies 5 are arranged at predetermined intervals on the surface of the rotor 2, and a plurality of electromagnets 6 are arranged on the inner spherical surface facing the rotor 2 of the stator 3. Has been.
The multi-degree-of-freedom electric motor 1 can control the movement of the rotor 2 by the excitation control of the electromagnet 6, and these controls are performed by a control unit such as a CPU (Central Processing Unit), for example. (Not shown), and when a command for moving the rotor 2 to a predetermined position is given to the control unit, the current position of the stator 3 and the rotor 2 is first detected by a camera, a potentiometer, and the like. The rotor 2 can be moved to a predetermined position by executing the excitation control of the electromagnet 6 in order to rotate the rotor 2 so as to reach the commanded position from the position.

  The support member 4 includes a spherical ball portion 7 that rotatably contacts the rotor 2, a rod-shaped ball holding portion 8 that is supported by the stator 3 to rotatably hold the ball portion 7, the ball holding portion 8, A smooth portion 9 for smooth rotation of the ball portion 7 is provided between the ball portion 7 and the ball portion 7, and the inner spherical electromagnet 6 of the stator 3 is sequentially disposed on the portion where the electromagnet 6 is not disposed. However, the center position of the rotor 2 is appropriately arranged so that the center position of the rotor 2 does not move with respect to the stator 3 with a substantially constant gap between the electromagnet 6 and the rotor 2.

  The ball holding portion 8 is incorporated with a thread groove 8c formed therein, with the inner end facing the center of the stator 3 in a state of passing through the through hole 3b formed in the stator 3, and on the outer peripheral surface side of the stator 3. It is fixed to the stator 3 by a nut 8d that is screwed in. A portion of the ball holding portion 8 that enters the stator 3 is provided so as to protrude from the inner spherical surface of the stator 3 together with the stator coil 6, and the ball portion 7 is disposed at the protruding end (inner end). A recess 8a having an opening on the stator center side is formed in a large diameter. Here, the concave portion 8a is formed on an inner spherical surface having a diameter larger than that of the ball portion 7 so that a gap is left between the concave portion 8a and the ball portion 7. A seal portion 8b is provided. The seal portion 8b of the present embodiment comes into contact with the upper half (rotor side half) of the ball portion 7 in a state where it can be moved three-dimensionally and the ball portion 7 comes out of the recess 8a. As a result, the exposed ball portion 7 comes into contact with the rotor 2 in a state of being freely rotatable in the three-dimensional direction, so that the friction between the support member 4 and the rotor 2 is reduced, and the rotor Support of 2 can be stably performed in a state where movement in a three-dimensional direction is possible. When the support member 4 is always in contact with the rotor 2, there is no fear that the ball portion 7 will come out of the recess 8 a, so that the seal portion 8 b is protruded from the seal portion 8 b. It can be configured to abut.

  The smooth portion 9 has a configuration in which a plurality of small spheres 9a are arranged on the spherical surface between the ball portion 7 and the concave portion 8a. When the ball portion 7 rotates, the small sphere 9a becomes a ball receiver. As a result, the three-dimensional free rotation of the ball portion 7 is smoothly performed. The seal portion 8b can seal the gap where the smooth portion 9 protrudes from the recess 8a.

  Further, it is preferable that the smooth portion 9 can freely move between the concave portion 8 a and the ball portion 7. In this case, the smooth portion 9 moves along the ball portion 7 when the ball portion 7 is rotated. Since it rotates while moving, the friction with the concave portion 8a can be reduced and the ball portion 7 can be smoothly rotated. As shown in FIG. 3, the smooth portion 9 of the present embodiment is allowed to move within the range of the gap S formed between the ball portion 7, the recess portion 8a, and the seal portion 8b. When the support member 4 supports the rotor 2 in the direction of gravity, the support member 4 comes into contact with the end portion (seal portion 8b) of the gap S and is restricted from moving. Therefore, as shown in FIG. By forming the gap T that guides the smooth part 9 at least from the seal part 8b side of the gap S in the direction against gravity, it is possible to avoid contact of the smooth part 9 with the end of the gap T. As a result, the movement of the smooth portion 9 is allowed, and the resistance due to rotation can be reduced. Incidentally, the ball | bowl part 7 and the smooth part 9 can be comprised with steel, a resin material, etc.

  In the embodiment of the present invention configured as described above, the multi-degree-of-freedom electric motor 1 rotates the rotor 2 provided with the magnetic body 5 by controlling the excitation of the electromagnet 6 provided on the stator 3. However, a support member 4 for supporting the rotor 2 with a predetermined gap between the stator 3 and the rotor 2, a ball portion 7 that contacts the rotor 2, and the ball portion 7 are disposed. A ball holding portion 8 having a recess 8a formed therein, and a smooth portion 9 that rotates following the rotation of the ball portion 7 and is disposed between the ball portion 7 and the recess 8a. For this reason, the support member 4 can rotate three-dimensionally with little friction on the rotor 2 due to rotation of the ball portion 7 as the rotor 2 rotates. The ball holding part 8 is provided via the smooth part 9. In rotation it is smoothly hardly become a resistance of the rotating rotor 2. As a result, the support member 4 in which the reaction speed and the rotational torque of the rotor 2 are difficult to decrease can be obtained.

  Further, the support member 4 is incorporated so that a screw groove 8 c is formed in the ball holding portion 8 and the inner end faces the center of the stator 3 in a state of passing through the through hole 3 b formed in the stator 3. For this reason, it is possible to adopt an easier attachment method compared to the case of attaching to the rotor 2 as in the prior art, and it is possible to fix to the stator 3 without fail.

It is a schematic sectional drawing of a multi-degree-of-freedom electric motor. (A), (B) is a schematic sectional perspective view of a supporting member, respectively, and is a schematic sectional drawing for demonstrating the effect | action of a supporting member and a rotor. It is a schematic sectional drawing for demonstrating the effect | action of the other example of a supporting member.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Multi-degree-of-freedom electric motor 2 Rotor 3 Stator 4 Support member 5 Magnetic body 6 Electromagnet 7 Ball part 8 Ball holding part 8a Recessed part 8b Seal part 9 Smooth part

Claims (2)

A multi-degree-of-freedom configuration comprising a stator having a plurality of electromagnets on the inner sphere, and a spherical rotor supported by the stator, the sphere having a plurality of magnetic bodies facing the stator with a predetermined interval. In the electric motor,
In providing a support member for rotatably supporting the rotor in a three-dimensional direction with respect to the stator,
A plurality of support members are provided in a spherical ball portion that rotatably contacts the rotor, a ball holding portion that rotatably holds the ball portion, and a gap that is formed between the ball holding portion and the ball portion. A multi-degree-of-freedom electric motor comprising a spherical smooth part for smooth rotation of the ball part.   The multi-degree-of-freedom electric motor according to claim 1, wherein the support member has a through hole formed in the stator and an end portion on the opposite side to the ball portion protruding through the through hole.

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