CN101777851A - Three degree of freedom spherical motor with multiple physical field mixing driving - Google Patents
Three degree of freedom spherical motor with multiple physical field mixing driving Download PDFInfo
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Abstract
The invention belongs to the technical field of motor manufacture, and relates to a three degree of freedom spherical motor with multiple physical field mixing driving. The spherical motor comprises a supporting part, a stator and a spherical rotor, wherein the supporting part comprises a base and a spherical stator casing fixed on the base. The top end of the stator casing is provided with a circular hole. One layer or more than one layer of winding installation holes is uniformly distributed on the upper sphere of the stator casing in the direction parallel to the equator. The stator comprises a stator winding and an ultrasonic vibrator, wherein the stator winding consists of a winging shaft and a coil. The diameter of the winding shaft is slightly smaller than the inner diameter of the winding installation hole, and the top of the winding shaft penetrates through a compression spring and is arranged in the winding installation hole. The ultrasonic vibrator is fixed on the base, and the upper end of the ultrasonic vibrator is in an inner cone shape, and is matched with the spherical rotor. The spherical rotor is uniformly embedded in a multilayer permanent magnet pole along the direction parallel to the equator. The invention has reliable structure, improves the torque characteristic of the motor, and enhances the design flexibility of the motor control system.
Description
Technical field
The invention belongs to the motor manufacturing technology field, relate to a kind of three degree of freedom spherical motor.
Background technology
Along with the progress of science and technology, the range of application of movement mechanism with multiple degrees of freedom is more and more wider.Traditional multifreedom motion is united realization by many single-degree-of-freedom motors, inevitably brings problems such as mechanism is huge, transmission accuracy is low, control difficulty.Therefore, the research of multi-freedom electric motor and control system is more and more paid attention to, and wherein, can realize the globular motor of pitching, inclination and the motion of rotation three degree of freedom, have application prospect widely, but the problem that relates to is also more complicated.
The ultrasonic wave globular motor is that a class utilizes the inverse piezoelectric effect of piezoelectric to realize the novel multi-freedom electric motor of power conversion.Spherical spinner is placed on cylindricality/dull and stereotyped stator, by A, B, the C three-phase piezoelectric patches on the excitation stator, inspire the different mode of oscillations of stator, the stator surface particle produces around the elliptic motion of disalignment rotation, and then by the frictional force drives rotor motion between rotor.Yet also there is following problem in the ultrasonic wave globular motor at present: 1, precompression device imperfection.Supersonic motor must guarantee higher friction power between the rotor in order to obtain desirable output torque, and this just needs to improve stator and is applied to epitrochanterian pressure.The more important thing is that the rotor precompression is the important parameter of supersonic motor, directly have influence on contact condition and energy transfer process between the rotor, and then have influence on performance index of supersonic motor etc.Because the special shape and the multivariant motion mode of rotor, the precompression device of ultrasonic wave globular motor is imperfection also, and generally the simple mechanism that is made of permanent magnetism tablet or spring constitutes, and is difficult for obtaining higher precompression, and controls dumb.2, the energy delivery interface is less, and the output torque is little.Supersonic motor utilizes frictional force to transmit energy, so the contact-making surface of rotor influences the torque performance of motor to a great extent.Compare with the size of rotor itself, supersonic motor energy delivery interface is less, has limited the output torque of motor.If increase stator dimensions simply, though can increase the rotor contact area, but increase along with size, the stator resonance frequency reduces, when resonance frequency is lower than ultrasonic frequency band, the motor operation will produce strong noise, in addition, the power of supersonic motor approximate with square being directly proportional of resonance frequency, the increase stator dimensions certainly will have influence on the power output of motor.
Summary of the invention
The object of the invention is to overcome the above-mentioned deficiency of prior art, a kind of three degree of freedom spherical motor that comprises the multiple physical field combination drive of electromagnetic field, frictional force is proposed, this electric machine structure is reliable, utilizes radial electromagnetic force to set up precompression between rotor, realizes the controlled of rotor precompression; Utilize the friction torque that frictional force produces between electromagnetic torque that tangential electromagnetic force produces and rotor to drive rotor jointly, realize three-degree-of-freedom motion, improved the torque characteristics of motor, improved the flexibility of electric machine control system design.For this reason, the present invention adopts following technical scheme:
A kind of three degree of freedom spherical motor with multiple physical field mixing driving comprises support section, stator and spherical spinner three parts, wherein,
Described support section comprises base, is fixed on the spherical stator case on the base, and the stator case top offers circular hole; Stator case episphere edge and the even one or more layers of winding installation holes that distributes of equator parallel direction;
Described stator comprises stator winding and ultrasonic vibrator, described stator winding is made of winding axle and coil, the diameter of winding axle is slightly less than the winding installation holes internal diameter, its top is passed the compression spring and is placed in the winding installation holes, the two ends of coil are placed with the top catch respectively, with the contacted top of spherical spinner catch on be pasted with frictional layer; Ultrasonic vibrator is fixed on the base, and its upper end is an inner conical, matches with spherical spinner;
Described spherical spinner evenly embeds the multilayer permanent magnet pole along the equator parallel direction, and each layer magnetic pole N, the S utmost point replace, and upper and lower two-layer magnetic pole N, the S utmost point alternately are fixed with the output shaft that stretches out from stator top circular hole on it.
As preferred implementation, three degree of freedom spherical motor with multiple physical field mixing driving of the present invention, the friction torque that electromagnetic torque that stator coil produces and ultrasonic vibrator produce drives spherical spinner jointly, and the electromagnetic radial force that stator coil produces is as the precompression between spherical spinner and ultrasonic vibrator; Spherical spinner and winding axle are made by non-magnet material.
Beneficial effect of the present invention has:
1, but the multifreedom motion on the three degree of freedom spherical motor with multiple physical field mixing driving implementation space is applied to fields such as robot, precision instrument, can simplify the design of mechanical system greatly.
2, three degree of freedom spherical motor with multiple physical field mixing driving has the ability of cutting off self-lock, and need not external device (ED)s such as mechanical hatching gate, and this design for positional servosystem is very favourable.
3, multiple physical field combination drive globular motor utilizes electromagnetic force to set up precompression between spherical spinner and ultrasonic vibrator, solved the problem of rotor precompression device imperfection in the ultrasonic wave globular motor, precompression control difficulty, by current amplitude, the direction of controlling different windings, can realize the ACTIVE CONTROL of rotor precompression.
4, by the electromagnetic torque of control stator winding generation and amplitude, the phase relation of friction torque on time and space of ultrasonic vibrator generation, three degree of freedom spherical motor with multiple physical field mixing driving can make electromagnetic torque and friction torque coordinated drive spherical spinner, the output torque that has improved motor.
5, compare with common magneto globular motor, multiple physical field combination drive globular motor stator winding decreased number 1/2, the electromagnetic torque matrix dimension reduces in the Mathematical Modeling, but the simplified control system design.
Description of drawings
Fig. 1 three degree of freedom spherical motor with multiple physical field mixing driving structure chart.
The number in the figure name is called: 1 ball rotor; 2 springs; 3 stator winding; 4 bolts; 5 carrying bolts; 6 bases; 7 output shafts; 8 stator case; 9 ultrasonic vibrators; 9.1 piezoelectric patches; 9.2 metallic elastic body
Fig. 2 stator case schematic diagram.
The number in the figure name is called: 8.1 installing holes
Fig. 3 rotor sphere structure figure.
The number in the figure name is called: 1.1 permanent magnet poles
Fig. 4 stator winding structure figure.
The number in the figure name is called: 3.1 winding axles; 3.2 coil; 3.3 catch; 3.4 frictional layer
Embodiment
Three degree of freedom spherical motor with multiple physical field mixing driving of the present invention comprises support section, stator and spherical spinner three parts, wherein, support section comprises stator case 8, spring 2, base 6 and carrying bolt 5, and stator comprises stator winding 3, ultrasonic vibrator 9, fixing output shaft 7 on the spherical spinner 1.Motor basic structure as shown in Figure 1.
Stator case 8 is a spherical structure, is fixed on the base 6 by bolt 4, and circular hole is opened on the stator case top, and output shaft 7 stretches out thus and connects output torque and power, and the circular hole size is determined by the motor angle of pitch.The stator case episphere multilayer winding installation holes 8.1 that evenly distributes along the equator, installing hole 8.1 is a through hole, the number of plies of installing hole can require adjust with density according to different controls and control precision.Stator winding 3 is made of winding axle 3.1 and coil 3.2, and fixed disc shape catch 3.3 prevents that coil 3.2 from sliding on winding axle 3.1, pastes frictional layer 3.4 to improve frictional force on the catch of top.Winding axle 3.1 diameters are slightly less than installing hole, can radially slide in installing hole, and in order to reduce cogging torque, winding axle 3.1 is made for non-magnet material.Winding axle 3.1 passes spring 2 and is placed in the winding installation holes 8.1.Ball rotor 1 compressing stator winding 3 makes spring 2 be in compressive state.
Because spring 2 is in compressive state, so stator winding 3 is being pressed on the rotor 1 under the effect of spring force.Because stator winding evenly distributes, will be subjected to vertically downward pressure at a plurality of spring action lower rotor parts, and then be pressed on the ultrasonic vibrator 9.Ultrasonic vibrator 9 adopts Langevin-type transducer structures, by bolt 4 elastomers 9.2 and 3 groups of piezoelectric ceramic pieces and electrode 9.1 thereof etc. is partly tightened up.Ultrasonic vibrator 9 is fixed on the base 6 by 4 fastening bolts 5.
Need to prove that ultrasonic vibrator can adopt other structures, for example disc, square column type surface of elastomer are pasted structures such as piezoelectric patches, and this moment, mechanical structure can adjust accordingly.
Ball rotor 1 adopts non-magnet material to make, and evenly embeds multilayer permanent magnet pole 1.1 along the equator, as shown in Figure 3.Each layer magnetic pole N, the S utmost point replace, and upper and lower two-layer magnetic pole N, the S utmost point are alternately.In order to improve the contact area of ultrasonic vibrator 9 and ball rotor 1, and keep stable contact, the ultrasonic vibrator top is an inner conical.
During the motor operation, because the spatial distribution of rotor magnetic pole, the magnetic field that rotor magnetic pole produces comprises R, θ, three components of Φ, and the Lorentz force that stator winding is subjected to behind the stator winding electrifying will comprise radial component and tangential component.The radial component of Lorentz force does not produce electromagnetic torque, but enough big and when opposite with the pressure direction of spring, spring is compressed when it, stator winding will separate with rotor, can not produce the frictional resistance effect to the motion of rotor.At this moment, spherical spinner will be subjected to reaction force radially, the reaction force that produces when a plurality of windings make a concerted effort to point to ultrasonic vibrator the time, then spherical spinner still is pressed on the ultrasonic vibrator, promptly electromagnetic force is as the precompression between spherical spinner and ultrasonic vibrator.Meanwhile, according to the three-phase piezoelectric patches of certain phase sequence excitation ultrasonic vibrator, then oscillator surface particle is done elliptic motion, and the friction torque drive ball rotor of generation is realized driftage, tilted and the rotation three-degree-of-freedom motion.When rotor departs from initial position,, can keep the precompression between rotor and the ultrasonic vibrator by changing the size and the direction of energising winding and winding current.
On the other hand, the reaction force acts of the tangential component of Lorentz force produces electromagnetic torque on spherical spinner, the electromagnetic torque that different stator winding produce is according to the synthetic final torque of vector composition principle, and this torque is relevant with locus, size of current, the sense of current of energising stator winding.During the motor operation, size, the direction of electric current when the conducting by controlling different stator winding, shutoff and conducting, the moment of friction that total synthetic electromagnetic torque and ultrasonic vibrator are produced has stable phase relation on time, space, the two driven in synchronism rotor motion that will superpose, so the output torque of motor will improve greatly.
When motor is out of service, the stator winding outage, electromagnetic repulsion force disappears, and the spring homing is pressed on stator winding on the spherical spinner again, and under a plurality of winding actings in conjunction, spherical spinner further is pressed on the ultrasonic vibrator.Frictional force between spherical spinner and stator winding, spherical spinner and ultrasonic vibrator will keep the motor self-locking.
Here the detailed explanation that has been center deployment with embodiments of the invention, the imbody of described optimal way or some characteristic, should be understood to this specification only is to describe the present invention by the mode that provides embodiment, in fact on some details of forming, construct and using, can change to some extent, for example, the arrangement mode of the combination of parts and assembly, rotor magnetic pole, the structure of ultrasonic vibrator, these distortion and application all should belong in the scope of the present invention.
Claims (3)
1. a three degree of freedom spherical motor with multiple physical field mixing driving comprises support section, stator and spherical spinner three parts, wherein,
Described support section comprises base, is fixed on the spherical stator case on the base, and the stator case top offers circular hole; Stator case episphere edge and the even one or more layers of winding installation holes that distributes of equator parallel direction;
Described stator comprises stator winding and ultrasonic vibrator, described stator winding is made of winding axle and coil, the diameter of winding axle is slightly less than the winding installation holes internal diameter, its top is passed the compression spring and is placed in the winding installation holes, the two ends of coil are placed with the top catch respectively, with the contacted top of spherical spinner catch on be pasted with frictional layer; Ultrasonic vibrator is fixed on the base, and its upper end is an inner conical, matches with spherical spinner;
Described spherical spinner evenly embeds the multilayer permanent magnet pole along the equator parallel direction, and each layer magnetic pole N, the S utmost point replace, and upper and lower two-layer magnetic pole N, the S utmost point alternately are fixed with the output shaft that stretches out from stator top circular hole on it.
2. three degree of freedom spherical motor with multiple physical field mixing driving according to claim 1, it is characterized in that, the friction torque that electromagnetic torque that stator coil produces and ultrasonic vibrator produce drives spherical spinner jointly, and the electromagnetic radial force that stator coil produces is as the precompression between spherical spinner and ultrasonic vibrator.
3. three degree of freedom spherical motor with multiple physical field mixing driving according to claim 1 is characterized in that, spherical spinner and winding axle are made by non-magnet material.
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102195537A (en) * | 2011-06-03 | 2011-09-21 | 扬州大学 | Partitioned winding magnetic suspension spherical induction motor |
| CN102355103A (en) * | 2011-09-20 | 2012-02-15 | 北京航空航天大学 | Electromagnetic-piezoelectric-mixed-driving-based three-degree-of-freedom spherical motor |
| CN102412763A (en) * | 2011-11-24 | 2012-04-11 | 天津大学 | Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof |
| CN102480253A (en) * | 2011-04-13 | 2012-05-30 | 河北科技大学 | Permanent-magnet rotor deflection-type three-degree-of-freedom motion motor |
| CN104467351A (en) * | 2014-12-02 | 2015-03-25 | 济南大学 | Motor |
| CN104690742A (en) * | 2015-03-18 | 2015-06-10 | 广西大学 | Three-freedom-degree magnetic-control mechanical arm output end |
| CN105226891A (en) * | 2014-07-03 | 2016-01-06 | 济南大学 | A kind of globular motor |
| CN105522588A (en) * | 2016-03-02 | 2016-04-27 | 郭嘉辉 | Magnetic ball-joint robot |
| WO2017145051A1 (en) * | 2016-02-26 | 2017-08-31 | Hangzhou Zero Zero Technology Co., Ltd. | Multi-degree-of-freedom motor design with reduced number of electromagnetic control phases |
| CN108155770A (en) * | 2016-12-05 | 2018-06-12 | 霍尼韦尔国际公司 | The control system and method for Three Degree Of Freedom electromagnetic machine |
| CN108429400A (en) * | 2018-03-27 | 2018-08-21 | 河北科技大学 | Electromagnetism piezoelectricity combination drive multi-freedom electric motor |
| CN108768058A (en) * | 2018-05-28 | 2018-11-06 | 华中科技大学 | A kind of rotor contracting brake mechanism and globular motor suitable for globular motor |
| CN109802596A (en) * | 2019-01-31 | 2019-05-24 | 河北科技大学 | Deflect driving type piezoelectric actuator multi-freedom electric motor |
| CN110086311A (en) * | 2019-05-24 | 2019-08-02 | 安徽大学 | A kind of magnetic resistance type globular motor of rotor salient pole type structure |
| 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 |
| CN112701987A (en) * | 2020-12-20 | 2021-04-23 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
| CN113364353A (en) * | 2021-04-22 | 2021-09-07 | 南昌航空大学 | Multi-degree-of-freedom driver of superconducting magnetic suspension spherical bearing |
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| CN102480253A (en) * | 2011-04-13 | 2012-05-30 | 河北科技大学 | Permanent-magnet rotor deflection-type three-degree-of-freedom motion motor |
| CN102480253B (en) * | 2011-04-13 | 2014-07-23 | 河北科技大学 | Permanent-magnet rotor deflection-type three-degree-of-freedom motion motor |
| CN102195537A (en) * | 2011-06-03 | 2011-09-21 | 扬州大学 | Partitioned winding magnetic suspension spherical induction motor |
| CN102355103A (en) * | 2011-09-20 | 2012-02-15 | 北京航空航天大学 | Electromagnetic-piezoelectric-mixed-driving-based three-degree-of-freedom spherical motor |
| CN102412763A (en) * | 2011-11-24 | 2012-04-11 | 天津大学 | Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof |
| CN102412763B (en) * | 2011-11-24 | 2013-12-25 | 天津大学 | Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof |
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| CN104467351A (en) * | 2014-12-02 | 2015-03-25 | 济南大学 | Motor |
| CN104690742A (en) * | 2015-03-18 | 2015-06-10 | 广西大学 | Three-freedom-degree magnetic-control mechanical arm output end |
| WO2017145051A1 (en) * | 2016-02-26 | 2017-08-31 | Hangzhou Zero Zero Technology Co., Ltd. | Multi-degree-of-freedom motor design with reduced number of electromagnetic control phases |
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| CN105522588A (en) * | 2016-03-02 | 2016-04-27 | 郭嘉辉 | Magnetic ball-joint robot |
| CN108155770A (en) * | 2016-12-05 | 2018-06-12 | 霍尼韦尔国际公司 | The control system and method for Three Degree Of Freedom electromagnetic machine |
| CN108429400A (en) * | 2018-03-27 | 2018-08-21 | 河北科技大学 | Electromagnetism piezoelectricity combination drive multi-freedom electric motor |
| CN108429400B (en) * | 2018-03-27 | 2020-02-14 | 河北科技大学 | Electromagnetic piezoelectric hybrid drive multi-degree-of-freedom motor |
| CN108768058B (en) * | 2018-05-28 | 2019-08-13 | 华中科技大学 | A kind of rotor internal contracting brake mechanism and globular motor suitable for globular motor |
| CN108768058A (en) * | 2018-05-28 | 2018-11-06 | 华中科技大学 | A kind of rotor contracting brake mechanism and globular motor suitable for globular motor |
| CN109802596A (en) * | 2019-01-31 | 2019-05-24 | 河北科技大学 | Deflect driving type piezoelectric actuator multi-freedom electric motor |
| CN109802596B (en) * | 2019-01-31 | 2020-08-04 | 河北科技大学 | Deflection piezoelectric driving type multi-freedom-degree motor |
| CN110086311A (en) * | 2019-05-24 | 2019-08-02 | 安徽大学 | A kind of magnetic resistance type globular motor of rotor salient pole type structure |
| 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 |
| CN112701987A (en) * | 2020-12-20 | 2021-04-23 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
| CN112701987B (en) * | 2020-12-20 | 2022-11-18 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
| CN113364353A (en) * | 2021-04-22 | 2021-09-07 | 南昌航空大学 | Multi-degree-of-freedom driver of superconducting magnetic suspension spherical bearing |
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