JP2009005550A - Spherical acceleration/deceleration driving mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a spherical acceleration/deceleration driving mechanism capable of providing an output for endless rotation in an arbitrary direction, using a spherical motor including a rotor that rotates endlessly in an arbitrary direction within a stator. <P>SOLUTION: The spherical acceleration/deceleration driving mechanism is characterized by including a spherical motor 4 and a ball 3 arranged in contact with a rotor 41 of the spherical motor 4, in which the ball 3 is rotated by driving the spherical motor 4. The ball is supported by a plurality of bearings, a plurality of spherical motors, or a plurality of spherical motors and spherical bearings, and is rotated by driving the spherical motor. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a spherical acceleration / deceleration drive mechanism, and more particularly to a spherical acceleration / deceleration drive mechanism using a spherical stepping motor.

  Patent Document 1 describes a three-axis drive unit according to the inventor's invention. The three-axis drive unit drives the sphere by an actuator that rotates around one axis via a friction wheel that contacts the sphere. The sphere is driven in three directions by three actuators. This mechanism also has a feature of a speed reducer that amplifies torque by reducing the rotational speed of the actuator.

  Patent Document 2 describes a spherical stepping motor according to the invention of the present inventors. This spherical stepping motor is characterized in that the rotor can be rotated in any direction to any extent.

Japanese Patent No. 1685370 Japanese Patent Application No. 2006-273936

  However, the three-axis drive unit described in Patent Document 1 has a problem in that a friction wheel of another actuator obstructs driving of a friction wheel in another direction, and thus a device for avoiding it is necessary.

  In the spherical stepping motor described in Patent Document 2, the rotor can rotate infinitely in any direction in the stator, but usually an output shaft is attached to the rotor in order to obtain a rotational output from the rotor. However, the rotor to which the output shaft is attached is spherically supported in a stator having an opening, and the output shaft can only rotate within the range of the opening, so that the range of movement of the output shaft is within a narrow range. There is a problem of being limited.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a spherical acceleration / deceleration drive mechanism that uses a spherical motor composed of a rotor that rotates infinitely in an arbitrary direction within a stator, and that can provide an output that can rotate infinitely in any direction. Is to provide.
Another object of the present invention is to provide a spherical acceleration / deceleration drive mechanism having a feature as a speed reducer that reduces the rotational speed of an actuator and amplifies torque, similar to that described in Patent Document 1, when used as a speed reduction mechanism. Is to provide.

The present invention employs the following means in order to solve the above problems.
The first means comprises a spherical motor and a spherical body arranged so as to contact the rotor of the spherical motor, and the spherical motor is rotated by driving the spherical motor. It is.
The second means is a spherical acceleration / deceleration drive mechanism according to the first means, wherein the spherical body is supported by a plurality of bearings.
The third means comprises a plurality of spherical motors and a sphere arranged to contact the rotors of the plurality of spherical motors, and the spheres are rotated by driving the plurality of spherical motors. This is a spherical acceleration / deceleration drive mechanism.
A fourth means is a spherical acceleration / deceleration drive mechanism according to the third means, wherein the spherical body is supported by the plurality of spherical motors and a spherical bearing.
A fifth means is the third means, wherein the plurality of spherical motors are arranged so as to face the first plurality of spherical motor groups and the first plurality of spherical motor groups. A spherical acceleration / deceleration drive mechanism comprising a motor group, wherein the spherical body is supported by the first plurality of spherical motor groups and the second plurality of spherical motor groups.
A sixth means is a spherical acceleration / deceleration drive mechanism according to any one of the first to fifth means, wherein an output shaft is provided on the spherical body.
A seventh means is a method according to any one of the first means to the sixth means, wherein the spherical motor has a polygon that forms a polyhedron inscribed in the rotor and a polygon that forms a polyhedron inscribed in the stator. A spherical surface composed of a rotor in which permanent magnets are arranged at the vertices of inscribed polyhedrons and the centers of the surfaces, and a stator having electromagnets arranged at the vertices of the inscribed polyhedrons and the centers of the respective surfaces, in which the number of angles is a prime relationship A spherical acceleration / deceleration drive mechanism characterized by being a stepping motor.
According to an eighth means, in any one of the first to sixth means, the spherical motor includes a polygon that forms a polyhedron inscribed in the rotor and a polygon that forms a polyhedron inscribed in the stator. It is composed of a rotor in which the number of angles is a prime relationship, and a permanent magnet is arranged at the apex of the inscribed polyhedron and the center of each surface, and a stator with an electromagnet arranged at the apex of the inscribed polyhedron and the center of each surface, The polarity of the surface of the permanent magnet corresponding to the apex of the polyhedron inscribed in the rotor is opposite to the polarity of the surface of the permanent magnet corresponding to the center of each surface, and an electric current is passed through the electromagnet of the stator to A spherical stepping motor configured such that when the rotor is rotated by suction, the polarity formed on the surface of the electromagnet is opposite to the polarity of the surface of the permanent magnet. It is a surface acceleration and deceleration drive mechanism.
According to a ninth means, in any one of the first to sixth means, the spherical motor includes a rotor in which a permanent magnet is arranged at the apex of the regular dodecahedron and the center of each surface, and the Kelvin 14 A spherical acceleration / deceleration drive mechanism comprising a spherical stepping motor comprising a vertex of a face piece and a stator having an electromagnet disposed at the center of each face.
According to a tenth means, in any one of the first to sixth means, the spherical motor includes a rotor in which a permanent magnet is arranged at the apex of a regular dodecahedron and the center of each surface, and 14 of Kelvin. A stator having an electromagnet disposed at the apex of the face and the center of each face, and the polarity of the permanent magnet surface corresponding to the apex of the polyhedron inscribed in the rotor and the polarity of the permanent magnet surface corresponding to the center of each face Constructed in the opposite direction, the current formed in the electromagnet of the stator is attracted to the permanent magnet to rotate the rotor so that the polarity formed on the electromagnet surface is opposite to the polarity of the permanent magnet surface A spherical acceleration / deceleration drive mechanism characterized by being a spherical stepping motor.
According to an eleventh means, in any one of the first to sixth means, the spherical motor includes a polygon forming a polyhedron inscribed in the rotor and a polygon forming a polyhedron inscribed in the stator. It is composed of a rotor in which the number of angles is a prime relationship, and a permanent magnet is arranged at the apex of the inscribed polyhedron and the center of each surface, and a stator with an electromagnet arranged at the apex of the inscribed polyhedron and the center of each surface, The combination of the permanent magnet of the rotor and the electromagnet of the stator has a configuration in which an electromagnet is arranged on the rotor side and an electromagnet is arranged on the stator side, a magnetic material is arranged on the rotor side, and an electromagnet is arranged on the stator side, rotor A permanent magnet is arranged on the stator side and a hybrid configuration of permanent magnets and electromagnets is arranged on the stator side, or a hybrid configuration of permanent magnets and electromagnets is arranged on the rotor side. A spherical deceleration drive mechanism, which is a spherically stepping motor arranged a hybrid configuration of the permanent magnet and the electromagnet on the stator side.
According to a twelfth means, in any one of the first means to the sixth means, the spherical motor includes a rotor in which a permanent magnet is arranged at the apex of a regular dodecahedron and the center of each surface, and 14 of Kelvin. A configuration in which an electromagnet is arranged at the apex of a plane body and an electromagnet arranged at the center of each surface, and the combination of the permanent magnet of the rotor and the electromagnet of the stator is arranged on the rotor side and the electromagnet is arranged on the stator side, A configuration in which a magnetic body is arranged on the rotor side and an electromagnet is arranged on the stator side, a permanent magnet is arranged on the rotor side and a hybrid configuration of permanent magnets and electromagnets is arranged on the stator side, or a hybrid of permanent magnets and electromagnets on the rotor side A spherical stepping motor characterized in that it is a spherical stepping motor with a configuration and a hybrid configuration of permanent magnets and electromagnets on the stator side Which is a drive mechanism.

According to the spherical acceleration / deceleration drive mechanism of the present invention, compared to the one described in Patent Document 1, no matter what direction the sphere is driven, other spherical motors may hinder the movement of the sphere. Disappear. In addition, the movable range of the output shaft attached to the sphere can be widened.
Further, by using the spherical stepping motor described in Patent Document 2, a strong driving force can be obtained and rotation control can be easily performed. Furthermore, by using the spherical stepping motor described in Patent Document 2, it is possible to obtain a large driving force by increasing the lines of magnetic force flowing into and out of the magnetic path between the permanent magnet of the rotor and the electromagnet of the stator. Become.

First, a first embodiment of the present invention will be described with reference to FIG.
FIG. 1 is a perspective view showing a configuration of a spherical acceleration / deceleration drive mechanism according to the present invention of the present embodiment.
In the figure, 1 is a bearing, 2 is a bearing provided so as to face the bearing 1, 3 is a sphere driven by a spherical motor 4, 4 is a spherical motor, 41 is a rotor of the spherical motor 4, and 5 is a sphere 3. It is an output shaft attached to.
As shown in the figure, in this spherical acceleration / deceleration drive mechanism, the sphere 3 is rotatably supported by the bearing 1 and the bearing 2, and the sphere 3 is in contact with the rotor 41 of the spherical motor 4. The rotation output is obtained from the output shaft 5.

Next, the operation of this spherical acceleration / deceleration drive mechanism will be described.
When the rotor 41 of the spherical motor 4 is rotated clockwise around the Xm axis, the sphere 3 rotates counterclockwise around the Xb axis of the sphere 3. When the rotor 41 of the spherical motor 4 is rotated clockwise around the Ym axis, the sphere 3 rotates counterclockwise around the Yb axis of the sphere 3.
Here, if the rotor diameter of the rotor 41 of the spherical motor 4 is d and the diameter of the sphere 3 is D, the rotational speed of the sphere 3 is converted to d / D times, and the rotational torque of the sphere 3 is converted to D / d times. That is, when the diameter D of the sphere 3 is made larger than the diameter of the rotor 41 of the spherical motor 4, an output with a low torque and a high torque can be obtained at a low speed.

  According to the spherical acceleration / deceleration drive mechanism according to the invention of the present embodiment, the diameter D of the sphere 3 is increased in applications requiring high torque, such as robot joint drive, and a DVD or the like is provided on the output shaft 5 of the sphere 3. For applications in which the sphere 3 is rotated at high speed, the diameter D of the sphere 3 can be reduced.

Next, a second embodiment of the present invention will be described with reference to FIG.
FIG. 2 is a perspective view showing the configuration of the spherical acceleration / deceleration drive mechanism according to the present invention of the present embodiment.
In the figure, 6 is a spherical bearing, 7 is a spherical motor, 71 is a rotor of the spherical motor 7, 8 is a spherical motor, 81 is a rotor of the spherical motor 8, 9 is a rotor 71 of the spherical motor 7, and a rotor 81 of the spherical motor 8 The sphere 10 driven by 10 is an output shaft attached to the sphere 9.
As shown in the figure, the spherical acceleration / deceleration driving mechanism is configured such that the spherical body 9 is rotatably supported by the spherical bearing 6, the rotor 71 and the rotor 81, and the spherical body 9 is in contact with the rotors 71 and 81. Therefore, it rotates with the rotation of the rotors 71 and 81, and a rotational output is obtained from the output shaft 10.

Next, the operation of this spherical acceleration / deceleration drive mechanism will be described.
When the rotor 71 of the spherical motor 7 is rotated clockwise around the Xm1 axis, the sphere 9 rotates counterclockwise around the Xb1 axis. When the spherical motor 7 is rotated clockwise around the Ym1 axis, the sphere 9 rotates counterclockwise around the Yb1 axis. Further, when the spherical motor 8 is rotated clockwise around the Xm2 axis, the sphere 9 rotates counterclockwise around the Xb2 axis. When the spherical motor 8 is rotated clockwise around the Ym2 axis, the sphere 9 rotates counterclockwise around the Yb2 axis. Further, when the spherical motor 7 and the spherical motor 8 are simultaneously rotated clockwise around the Xm1 axis and the Xm2 axis, the sphere 9 is a combined direction of the counterclockwise rotation around the Xb1 axis and the Xb2 axis. Rotate to.
Here, if the diameters of the rotors 71 and 81 of the spherical motors 7 and 8 are d and the diameter of the sphere 9 is D, the rotational speed of the sphere 9 is d / D times the rotational speed of the rotors 71 and 81, and The rotational torque is converted to D / d times the rotational torque of the rotors 71 and 81. That is, when the diameter D of the sphere 9 is made larger than the rotors 71 and 81 of the spherical motors 7 and 8, high torque is obtained at a low rotational speed, and low torque is obtained at a high rotational speed when the diameter is reduced.

Next, a third embodiment of the present invention will be described with reference to FIGS.
FIG. 3 is a perspective view showing the configuration of the spherical acceleration / deceleration drive mechanism according to the invention of this embodiment, and FIG. 4 shows the arrangement of the spherical motors 13 to 21 excluding the spherical bodies from the spherical acceleration / deceleration drive mechanism shown in FIG. FIG.
In these drawings, 11 is a sphere driven by spherical motors 13 to 21, 12 is an output shaft attached to the sphere 11, and 13 to 21 are spherical motors. Although not shown in the drawings, the spherical motors 13 to 21 are also provided with respective rotors in contact with the sphere 11 as in the spherical motors shown in FIGS. 1 and 2.

Next, the operation of this spherical acceleration / deceleration drive mechanism will be described.
In these drawings, by driving the spherical motors 13 to 21, the sphere 11 can be rotated around the X axis, around the Y axis, around the Z axis, and the direction in which they are combined.
Here, if the diameter of the rotor of the spherical motors 13 to 21 is d and the diameter of the sphere 11 is D, the rotation speed of the sphere 11 is d / D times the rotation speed of the rotor of the spherical motors 13 to 21 and the rotation of the sphere 11. The torque is converted into a sum of D / d times the rotational torque of the rotor of each spherical motor 13-21. That is, when the diameter D of the spherical body 11 is made larger than the rotors of the spherical motors 13 to 21, or when the number of the spherical motors 13 to 21 is increased, high torque is obtained at a low rotational speed, and low torque is obtained at a low rotational speed.
According to the spherical acceleration / deceleration driving mechanism according to the invention of the present embodiment, as apparent from FIG. 3, the movable range of the output shaft 12 can be made very wide.

Next, a fourth embodiment of the present invention will be described with reference to FIG.
FIG. 5 is a front view showing the configuration of the spherical acceleration / deceleration drive mechanism according to the invention of this embodiment.
In the figure, 22 is a sphere driven by spherical motors 24 to 33, 23 is a spherical motor support for supporting spherical motors 24 to 33, and 24 to 33 are spherical motors. Although not shown, the spherical motors 27 to 28 are arranged on the other side of the spherical motors 24 to 26, and the spherical motors 32 to 33 are also arranged on the other side of the spherical motors 29 to 31. Further, similarly to the spherical motors shown in FIGS. 1 and 2, the spherical motors 24 to 33 are also provided with respective rotors at locations where they contact the spherical body 22.

Next, the operation of this spherical acceleration / deceleration drive mechanism will be described.
The spherical motor 22 is sandwiched between the spherical motors 24 to 28 and the spherical motors 29 to 33 supported by the spherical motor support 23 and the rotor of each spherical motor 24 to 33 is driven to rotate the spherical body 22 in an arbitrary direction. be able to.
Here, if the diameter of the rotor of the spherical motors 24 to 33 is d and the diameter of the spherical body 22 is D, the rotational speed of the spherical body 22 is d / D times the rotational speed of the rotor of the spherical motors 24 to 33 and the rotational speed of the spherical body 22. The torque is converted into a sum of D / d times the rotational torque of the rotor of each spherical motor 24-33. That is, if the diameter D of the spherical body 22 is made larger than the diameter d of the rotor of the spherical motors 24 to 33 or the number of the spherical motors 24 to 33 is increased, high torque is obtained at a low rotational speed, and low torque is obtained at a low rotational speed. .
According to the spherical acceleration / deceleration drive mechanism according to the invention of the present embodiment, the spherical body 22 is suitable for use as a wheel capable of turning the steering wheel.

Next, a spherical stepping motor used as a spherical motor in the surface acceleration / deceleration driving mechanism according to the inventions of the first to fourth embodiments will be described.
In this spherical stepping motor, basically, the polygons constituting the polyhedron inscribed in the rotor and the polygons constituting the polyhedron inscribed in the stator are relatively prime (the value obtained by dividing each other is not an integer). ) At the top of the polyhedron inscribed in the rotor and the rotor at the center of each surface, and the stator at the apex of the polyhedron inscribed and at the center of each surface.

The spherical stepping motor has the following configuration as an example of combination of a polyhedron inscribed in the rotor and a polyhedron inscribed in the stator. In addition, the inside of () represents the polygonal shape which comprises the surface of a polyhedron.
The polyhedron inscribed in the rotor is a regular dodecahedron (pentagon), the polyhedron inscribed in the stator is a regular tetrahedron (Kelvin 14-hedron) (square, hexagon), and the polyhedron inscribed in the rotor is a regular tetrahedron (triangular). Is a regular hexahedron (square), a polyhedron inscribed in the rotor is a regular octahedron (triangle), a polyhedron inscribed in the stator is a regular hexahedron (square), and a polyhedron inscribed in the rotor is a regular icosahedron (3). The polyhedron inscribed in the stator is a regular dodecahedron (pentagon), the polyhedron inscribed in the rotor is a cubic octahedron (triangle, tetragon), and the polyhedron inscribed in the stator is a regular dodecahedron (pentagon). The inscribed polyhedron is a rhombus dodecahedron (rhombus), the polyhedron inscribed in the stator is a regular dodecahedron (pentagon), the polyhedron inscribed in the rotor is a rhombus 30 hedron (rhombus), and the polyhedron inscribed in the stator is a cut corner. A icosahedron (soccer ball) (pentagon, hexagon), a polyhedron inscribed in the rotor is a truncated hexahedron (triangle, octagon), and a polyhedron inscribed in the stator is a regular dodecahedron (pentagon).

FIG. 6 is a diagram illustrating the relationship between the rotor and the stator of the spherical stepping motor.
As shown in the figure, this spherical stepping motor is composed of a spherical rotor 102 supported by a spherical bearing 101 and a stator 103 having an opening at the top.
FIG. 7 is a diagram showing the configuration of the rotor of the spherical stepping motor.
As shown in the figure, the rotor 102 has a surface at a position corresponding to a vertex 104 of an inscribed regular dodecahedron (a polyhedron having a regular pentagonal shape) and a central portion 105 of each surface. A permanent magnet is embedded so as to have the same shape.
FIG. 8A is a diagram showing the configuration of the stator 103 of the spherical stepping motor.
As shown in the figure, the stator 103 is composed of a Kelvin 14-hedron (polyhedron whose surface shape is a regular hexagon and a square) shown in FIG. An electromagnet is disposed at a position corresponding to 106 and the center 107 of each surface.

Next, the rotation operation around the vertical axis of the spherical stepping motor will be described.
FIG. 9 shows a state in which the permanent magnet 109 in the center of the regular pentagon on the bottom surface of the rotor 102 of the spherical stepping motor overlaps with the electromagnet 108 in the center of the regular hexagon on the bottom surface of the stator 103. FIG.
In the figure, first, a current is supplied to the electromagnet 110 of the stator 103 while an electric current is supplied to the electromagnet 108 of the stator 103 to attract the permanent magnet 109 of the rotor 102. Then, the permanent magnet 111 of the nearest rotor 102 is attracted, and the rotor 102 rotates clockwise around the permanent magnet 109 until the permanent magnet 111 is closest to the electromagnet 110 of the stator 103. In this state, the current of the electromagnet 110 of the stator 103 is turned off, and the current is passed through the electromagnet 112 of the stator 103. Then, the permanent magnet 113 of the nearest rotor 102 is attracted, and the rotor 102 rotates around the permanent magnet 109 to a position where the permanent magnet 113 is closest to the electromagnet 112 of the stator 103. Similarly, when the current is switched in the order of the electromagnets 114, 116, 118, 120 of the stator 103 located at the apex of the regular hexagon on the bottom surface, the permanent magnets 115, 117, 119, 111 of the rotor 102 are attracted in order. The rotor 102 continues to rotate in the same direction with the permanent magnet 109 as the center of rotation. By repeating this procedure, the rotor 102 can be rotated indefinitely clockwise around the vertical axis.

Next, the rotation operation around the oblique axis of the spherical stepping motor will be described.
10 shows a spherical stepping motor in which the rotation axis of the rotor 102 is oblique with respect to the stator 103, and FIG. 11 shows the state of the rotor 102 and the stator 103 as seen from the rotation axis side in the oblique direction of the rotor 102. FIG.
Hereinafter, a case where the rotor 102 is rotated around the oblique axis when the rotor 102 and the stator 103 are in the positional relationship shown in FIG. 10 will be described.
In FIG. 11, a current is passed through the electromagnet 104 </ b> A at the center of the square of the stator 3 to attract the permanent magnet 105 </ b> A at the center of the regular pentagon facing the rotor 102. In this state, the electromagnets 106A, 107A, 108A, 109A, 106A at the apexes of the square of the stator 103 are energized in order, and the permanent magnets 110A, 111A, 112A, 113A, at the apexes of the regular pentagon of the rotor 102 nearby. Aspirate 114A in order. As a result, the rotor 102 can be rotated clockwise around the electromagnet 104A.

Next, in the spherical stepping motor of the present invention, a case where the driving force is increased by using the attractive force between the permanent magnet of the rotor 102 and the electromagnet of the stator 103 in the upper stage will be described.
12A shows the positional relationship of the permanent magnets in the first to third stages of the rotor 102, and FIG. 12B shows the positional relationship of the electromagnets in the first to third stages of the stator 103. FIG. 13 is a diagram showing the relationship between the permanent magnet at the second stage of the rotor 102 and the electromagnet at the second stage of the stator 103.
As shown in FIG. 13, the second stage permanent magnets of the rotor 102 are five (104B, 105B, 106B, 107B, 108B), and the second stage electromagnets of the stator 103 are the top six (109B, 110B). , 111B, 112B, 113B, 114B) and three electromagnets (115B, 116B, 117B) at the center of the regular hexagonal surface. Further, the third-stage permanent magnet of the rotor 102 and the third-stage electromagnet of the stator 103 have five permanent magnets for the rotor 102 and nine permanent magnets for the stator 103, as in FIG.
Therefore, a strong driving force can be obtained from the rotor 102 by causing a current to flow through the electromagnet of each stage of the stator 103 corresponding to the permanent magnet of each stage of the rotor 102.

Furthermore, the case where the driving force of the rotor 102 is increased by using the upper suction force when the rotating shaft of the rotor 102 is at the center of the square of the stator 103 will be described.
FIG. 14A is a diagram showing the positional relationship of the permanent magnets at the first and second stages of the rotor 102, and FIG. 14B is the positional relationship of the electromagnets at the first and second stage stators 103. FIG. 15 is a diagram showing the relationship between the permanent magnets at the second stage of the rotor 102 and the electromagnets at the second and first stages of the stator 103.
As shown in FIG. 15, when the rotation axis of the rotor 102 is at the center of the square of the stator 103, the five permanent magnets (104B, 105B, 106B, 107B, 108B) of the second stage of the rotor 102 and the stator 103 The second stage and first stage electromagnets (109B, 110B, 111B, 112B, 113B, 114B, 115B, 16B) are combined.
Therefore, the permanent magnet at the second stage of the rotor 102 can increase the driving force by using the attractive force of the electromagnets at the second and first stages of the stator 103.

Furthermore, the case where the driving force of the rotor is increased by simultaneously using another electromagnet will be described.
In FIG. 9, the case where current is supplied only to the electromagnet of the stator 103 closest to the permanent magnet of the rotor 102 has been described, but in FIG. 9, current is simultaneously supplied to the electromagnets 110, 112, 114, 116, 118, 120. Thus, the driving force can be increased by flowing the current in consideration of the direction of the current so that a clockwise rotational force acts on the permanent magnet near each electromagnet. That is, the electromagnets 110, 112, and 120 in which the nearest permanent magnet is in the counterclockwise position pass a current that generates an attractive force, and the nearest permanent magnet is in the electromagnets 116 and 118 in the clockwise position. An electric current that generates a repulsive force is supplied, and no electric current is supplied to the electromagnet 114 having two permanent magnets that are equidistant. In this way, the driving force can be increased by passing current through most of the electromagnets simultaneously. Similarly, in the rotation around the oblique axis, it is possible to increase the driving force by simultaneously using the attractive / repulsive force of most electromagnets.

  In this spherical stepping motor, the case where the permanent magnet is disposed on the rotor side and the electromagnet is disposed on the stator side has been described, but the following combinations are also possible. That is, an electromagnet is arranged on the rotor side and an electromagnet is arranged on the stator side. A magnetic body is arranged on the rotor side and an electromagnet is arranged on the stator side. A permanent magnet is disposed on the rotor side, and a hybrid configuration of a permanent magnet and an electromagnet is disposed on the stator side. A hybrid configuration of permanent magnets and electromagnets is arranged on the rotor side, and a hybrid configuration of permanent magnets and electromagnets is arranged on the stator side.

  In this spherical stepping motor, the case where the stator is fixed and the rotor rotates has been described. However, the rotor side is fixed and the stator side (outside) is movable, or both the rotor and the stator are movable, and the universal joint. It can also be used for parts (active sliding bearings).

  Next, in this spherical stepping motor, in order to obtain a large driving force, it is necessary to cause a large line of magnetic force to flow into and out of a magnetic path formed between the permanent magnet of the rotor and the electromagnet of the stator. Below, the structure for making a big magnetic field line flow in and out of the magnetic path formed between the permanent magnet of a rotor and the electromagnet of a stator is demonstrated.

  As shown in FIG. 7, the rotor 102 is embedded with permanent magnets so as to have the same shape as the rotor 102 on the surface corresponding to the apex 14 of the inscribed regular dodecahedron and the central portion 105 of each surface. In the spherical shell structure of the rotor 102, as shown in FIG. 16, the outer spherical shell 106C is made of a material with low magnetic permeability such as plastic, and the inner spherical shell 107C is made of a material with high magnetic permeability such as iron. . Further, the polarity of the surface of the permanent magnet 104C corresponding to the vertex 104 of the regular dodecahedron inscribed in the rotor 102 is opposite to the polarity of the surface of the permanent magnet 105C corresponding to the center portion 105 of each surface (for example, When the permanent magnet 104C has an N pole, the permanent magnet 105C at the center 105 is an S pole). Thereby, a magnetic path as shown by the arrow in FIG. 16 is formed.

As shown in FIG. 8, the stator 103 has electromagnets arranged at positions corresponding to the apex 106 of the Kelvin inscribed Kelvin and the center 107 of each surface. Hereinafter, the polarity of the electromagnet of the stator 103 will be described.
Now, as shown in FIG. 9, when the state in which the regular pentagonal center permanent magnet 109 on the bottom surface of the rotor 102 overlaps the electromagnet 108 on the regular hexagonal center on the bottom surface of the stator 103 is viewed from directly above, A current is passed through the electromagnet 110 while a current is passed through the electromagnet 108 of the stator 103 to attract the permanent magnet 109. Then, the nearest permanent magnet 111 is attracted, and the rotor 102 rotates clockwise around the permanent magnet 109 until the permanent magnet 111 is closest to the electromagnet 110. In this state, the current of the electromagnet 110 is turned off and the current is passed through the electromagnet 112. Then, the nearest permanent magnet 113 is attracted, and the rotor 102 rotates around the permanent magnet 109 until the permanent magnet 113 is closest to the electromagnet 112. Similarly, when the current is switched in the order of the electromagnets 114, 116, 118, and 120 located at the apex of the regular hexagon on the bottom surface, the permanent magnets 115, 117, 119, and 111 are sequentially attracted, and the rotor 102 causes the permanent magnet 109 to be attracted. Continue to rotate in the same direction as the center of rotation. By repeating this procedure, the rotor 102 can be rotated infinitely around the vertical axis.

  At this time, in FIG. 9, a current flows in the direction of attracting the permanent magnet 109 to the electromagnet 108 facing the permanent magnet 109, and the surrounding electromagnets 110, 112, 114, 116, 118, 120 are respectively opposed to the permanent magnet 109. Current is passed in the direction of suction. Since the permanent magnet 109 and the permanent magnets 111, 113, 115, 117, and 119 have their magnetizing directions reversed, the electromagnet 108 and the electromagnets 110, 112, 114, 116, 118, and 120 have their magnetization directions reversed. As a result, a magnetic path as shown by the white arrow in FIG. 17 is formed between the permanent magnet of the rotor 102 and the electromagnet of the stator 103, and a large magnetic field line can flow in and out, so that a large driving force can be obtained.

It is a perspective view which shows the structure of the spherical acceleration / deceleration drive mechanism which concerns on invention of 1st Embodiment. It is a perspective view which shows the structure of the spherical acceleration / deceleration drive mechanism which concerns on invention of 2nd Embodiment. It is a perspective view which shows the structure of the spherical acceleration / deceleration drive mechanism which concerns on invention of 3rd Embodiment. It is a figure which shows arrangement | positioning of the spherical motors 13-21 except a spherical body from the spherical acceleration / deceleration drive mechanism shown in FIG. It is a front view which shows the structure of the spherical acceleration / deceleration drive mechanism which concerns on invention of 4th Embodiment. It is a figure which shows the relationship between the rotor 102 of a spherical stepping motor, and the stator 103. FIG. It is a figure which shows the structure of the rotor 102 of a spherical stepping motor. It is a figure which shows the structure of the stator 103 of a spherical stepping motor, and a figure which shows the 14-hedron of Kelvin (a polyhedron which the shape of a surface comprises a regular hexagon and a square). It is the figure which looked at the state which the permanent magnet 8 in the center of the regular 5 shape of the bottom face of the rotor 102 of a spherical stepping motor has overlapped with the electromagnet 9 in the center of the regular hexagon of the bottom face of the stator 103 from right above. FIG. 3 is a view showing a spherical stepping motor in which a rotation axis of a rotor is inclined with respect to a stator. FIG. 3 is a diagram illustrating a state of a rotor 102 and a stator 103 as viewed from a rotating shaft side in an oblique direction of the rotor 102. FIG. 4 is a diagram showing the positional relationship of permanent magnets in the first to third stages of the rotor 102, and a diagram showing the positional relationship of electromagnets in the first to third stages of the stator 103. FIG. 4 is a diagram showing a relationship between a permanent magnet at the second stage of the rotor 102 and an electromagnet at the second stage of the stator 103. FIG. 4 is a diagram showing a positional relationship between permanent magnets at the first and second stages of the rotor 102, and a diagram showing a positional relationship between electromagnets at the first and second stage stators 103; FIG. 4 is a diagram showing a relationship between a permanent magnet at the second stage of the rotor 102 and electromagnets at the second and first stages of the stator 103. 3 is a partial cross-sectional view showing a spherical shell structure of a rotor 102. FIG. 3 is a partial cross-sectional view showing a spherical shell structure of a rotor 102 and a stator 103. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Bearing 2 Bearing 3 Sphere 4 Spherical motor 41 Rotor 5 Output shaft 6 Spherical bearing 7 Spherical motor 71 Rotor 8 Spherical motor 81 Rotor 9 Sphere 10 Output shaft 11 Spherical body 12 Output shafts 13 to 21 Spherical motor 22 Spherical motor 23 Spherical motor support 24 ˜33 Spherical motor 101 Spherical bearing 102 Rotor 103 Stator 104, 106 Apex 105, 107 Center part 108, 110, 112, 114, 116, 118, 120 Electromagnet 109, 111, 113, 115, 117, 119 Permanent magnet 104A, 106A , 107A, 108A, 109A Electromagnets 105A, 110A, 111A, 112A, 113A, 114A Permanent magnets 104B, 105B, 106B, 107B, 108B Permanent magnets 109B, 110B, 111B, 112B, 113B, 114B, 115B, 11 B, 117B electromagnet 118B, 119B, 120B, 121B, 122B permanent magnets 123B, 124B, 125B, 126B, 127B, 128B, 129B, 130B electromagnet 104C, the inside of a spherical shell of the outer spherical shell 107C rotor 105C permanent magnet 106C rotor

Claims (12)

  A spherical acceleration / deceleration drive mechanism comprising a spherical motor and a sphere disposed so as to contact a rotor of the spherical motor, wherein the sphere is rotated by driving the spherical motor.   The spherical acceleration / deceleration drive mechanism according to claim 1, wherein the spherical body is supported by a plurality of bearings.   A spherical acceleration / deceleration drive mechanism comprising a plurality of spherical motors and a sphere disposed so as to contact the rotor of the plurality of spherical motors, wherein the spheres are rotated by driving the plurality of spherical motors. .   The spherical acceleration / deceleration driving mechanism according to claim 3, wherein the spherical body is supported by the plurality of spherical motors and a spherical bearing.   The plurality of spherical motors includes a first plurality of spherical motor groups and a second plurality of spherical motor groups disposed to face the first plurality of spherical motor groups, and the sphere is the first spherical motor group. The spherical acceleration / deceleration drive mechanism according to claim 3, wherein the spherical acceleration / deceleration driving mechanism is supported by the plurality of spherical motor groups and the second plurality of spherical motor groups.   6. The spherical acceleration / deceleration drive mechanism according to claim 1, wherein an output shaft is provided on the spherical body.   In the spherical motor, the polygons constituting the polyhedron inscribed in the rotor and the polygons constituting the polyhedron inscribed in the stator are in a prime relationship with each other, and the vertex of the inscribed polyhedron and the center of each surface are permanent. The spherical stepping motor according to any one of claims 1 to 6, wherein the stepping motor is a spherical stepping motor including a rotor having magnets arranged thereon, a vertex having inscribed polyhedrons, and a stator having electromagnets arranged at the centers of the respective surfaces. The spherical acceleration / deceleration drive mechanism described in 1.   In the spherical motor, the polygons constituting the polyhedron inscribed in the rotor and the polygons constituting the polyhedron inscribed in the stator are in a prime relationship with each other, and the vertex of the inscribed polyhedron and the center of each surface are permanent. It consists of a rotor on which magnets are arranged and a stator with electromagnets arranged at the apexes of the inscribed polyhedron and the center of each surface, and the polarity of the permanent magnet surface corresponding to the apex of the polyhedron inscribed on the rotor and the center of each surface The polarity of the surface of the permanent magnet is configured so that the polarity of the surface of the permanent magnet is opposite to the polarity of the surface of the permanent magnet and the rotor is rotated by attracting the permanent magnet by passing an electric current through the electromagnet of the stator. 7. A spherical acceleration / deceleration drive mechanism according to claim 1, wherein the spherical acceleration / deceleration driving mechanism is a spherical stepping motor configured to be opposite to the polarity of the spherical stepping motor.   The spherical motor is a spherical stepping motor composed of a rotor having permanent magnets arranged at the apex of a regular dodecahedron and the center of each surface, and a stator having electromagnets arranged at the apex of the Kelvin's 14-hedron and the center of each surface. The spherical acceleration / deceleration drive mechanism according to any one of claims 1 to 6, wherein:   The spherical motor is composed of a rotor having permanent magnets arranged at the apex of a regular dodecahedron and the center of each surface, and a stator having electromagnets arranged at the apex of the 14-sided Kelvin and the center of each surface, and is inscribed in the rotor. The polarity of the surface of the permanent magnet corresponding to the apex of the polyhedron is opposite to the polarity of the surface of the permanent magnet corresponding to the center of each surface, and an electric current is passed through the electromagnet of the stator to attract the permanent magnet and the rotor 7. A spherical stepping motor configured so that a polarity formed on the surface of the electromagnet is opposite to a polarity of the surface of the permanent magnet when the magnet is rotated. A spherical acceleration / deceleration drive mechanism according to claim.   In the spherical motor, the polygons constituting the polyhedron inscribed in the rotor and the polygons constituting the polyhedron inscribed in the stator are in a prime relationship with each other, and the vertex of the inscribed polyhedron and the center of each surface are permanent. A rotor having magnets and a stator having electromagnets arranged at the apexes of the inscribed polyhedron and the center of each surface, and the combination of the permanent magnets of the rotor and the electromagnets of the stator has an electromagnet arranged on the rotor side. A configuration in which an electromagnet is disposed on the stator side, a magnetic body is disposed on the rotor side and an electromagnet is disposed on the stator side, a permanent magnet is disposed on the rotor side, and a hybrid configuration of permanent magnets and electromagnets is disposed on the stator side, or Spherical stepping with a permanent magnet / electromagnet hybrid configuration on the rotor side and a permanent magnet / electromagnet hybrid configuration on the stator side Spherical deceleration drive mechanism according to any one of claims 1 to claim 6, characterized in that it is Gumota.   The spherical motor includes a rotor having permanent magnets arranged at the apex of a regular dodecahedron and the center of each surface, and a stator having electromagnets arranged at the apex of the 14-sided Kelvin and the center of each surface. The combination of the magnet and the electromagnet of the stator has a configuration in which an electromagnet is disposed on the rotor side and an electromagnet is disposed on the stator side, a magnetic body is disposed on the rotor side and an electromagnet is disposed on the stator side, and a permanent magnet is disposed on the rotor side. A spherical stepping motor in which a hybrid configuration of permanent magnets and electromagnets is arranged on the stator side, or a hybrid configuration of permanent magnets and electromagnets is arranged on the rotor side and a hybrid configuration of permanent magnets and electromagnets is arranged on the stator side. The spherical acceleration / deceleration drive mechanism according to any one of claims 1 to 6, wherein: