CN105108730A - Three-degree-of-freedom rotating motor - Google Patents
Three-degree-of-freedom rotating motor Download PDFInfo
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- CN105108730A CN105108730A CN201510485315.4A CN201510485315A CN105108730A CN 105108730 A CN105108730 A CN 105108730A CN 201510485315 A CN201510485315 A CN 201510485315A CN 105108730 A CN105108730 A CN 105108730A
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Abstract
The invention discloses a three-degree-of-freedom rotating motor. The three-degree-of-freedom rotating motor comprises a motor base, a rotating body, a coil set, a motor output shaft, a permanent magnet, a permanent magnet support sleeve and a motor cover, wherein the motor base and the motor cover are provided with hollow cavities; the motor output shaft is fixed on the rotating body; the coil set is mounted on the rotating body; the permanent magnet is mounted on the permanent magnet support sleeve; the outer surface of the rotating body fits the inner surface of the permanent magnet support sleeve; the rotating body can rotate in the hollow cavity of the permanent magnet support sleeve; the permanent magnet support sleeve is positioned in the hollow cavity of the motor base; the outer surface of the permanent magnet support sleeve is contacted with the inner surface of the motor base; the motor base is connected with the motor cover; one end of a lead is externally connected with positive and negative electrodes of a power supply; and the other end of the lead is connected with the coil set of the rotating body. The three-degree-of-freedom rotating motor is compact in structure, small in inertia and high in flexibility, is applied to the robot control, can reduce the robot manufacturing cost, simplifies the whole robot structure, and relieves the robot arm load.
Description
Technical field
The present invention is a kind of Three Degree Of Freedom electric rotating machine, belongs to the innovative technology of Three Degree Of Freedom electric rotating machine.
Background technology
For the driver of control motion, current application is at most electric rotating machine and linear electric motors, and its structure forms by motor base, motor hood and internal motivation element.The motion of control on one degree of freedom direction be responsible for by each motor, and when motor load is comparatively large or rotation angle range is less on rotary freedom direction, need the effect coordinating precision speed reduction device.In addition, because existing robot product is mostly articulated, and driving joint motion needed for motor and precision speed reduction device in cost or weight, no matter all occupy larger proportion, therefore cost and deadweight too high.In addition, in order to bear the weight of motor and precision speed reduction device, robot arm configuration will do enough sturdy, further increases cost and the deadweight of robot.
Summary of the invention
The object of the invention is to consider the problems referred to above and the Three Degree Of Freedom electric rotating machine that a kind of compact conformation, inertia are little, flexibility ratio is large is provided.The present invention is used for the manufacturing cost that robot controlling can reduce robot, simplifies the overall structure of robot, and alleviates the load of robot arm.
Technical scheme of the present invention is: Three Degree Of Freedom electric rotating machine of the present invention, include electric machine stand, rotary body, coil groups, motor output shaft, permanent magnet, permanent magnet supports cover, motor hood, wire, wherein electric machine stand and motor hood are all provided with hollow cavity, motor output shaft is fixed on rotary body, rotary body is equiped with coil groups, permanent magnet is installed in permanent magnet supports and puts, the inner surface that outer surface and the permanent magnet supports of rotary body overlap matches, rotate physical efficiency to rotate in the hollow cavity set by permanent magnet supports cover, permanent magnet supports is placed in the hollow cavity set by electric machine stand, the outer surface of permanent magnet supports cover contacts with the inner surface of electric machine stand, electric machine stand is connected with motor hood, one end external power supply of wire just, negative electrode, the other end of wire is connected with the coil groups set by rotary body.
Three Degree Of Freedom electric rotating machine of the present invention, under the dimensional structure determined and high-precision requirement prerequisite, has the following advantages:
1) Three Degree Of Freedom electric rotating machine of the present invention can realize 360 ° of rotations of single main shaft and the swing rotary of two countershaft certain angles, and positioning precision is high;
2) the present invention can realize three-shaft linkage rotation, and hinge structure controls simple, and structure simplifies, and reduces manufacturing cost;
3) compact conformation of the present invention, rotary inertia is little, flexibility ratio is large, control range is wide;
4) the present invention is used for robot, reduces the manufacturing cost of robot entirety.
The Three Degree Of Freedom electric rotating machine that the present invention is a kind of compact conformation, inertia is little, flexibility ratio is large.Can be used for the control of rotary freedom.
Accompanying drawing explanation
Fig. 1 is STRUCTURE DECOMPOSITION figure of the present invention;
Fig. 2 is stereogram of the present invention;
Fig. 3 is the structural representation of rotary body in Three Degree Of Freedom electric rotating machine of the present invention;
Fig. 4 is the fundamental diagram of coil groups of the present invention.
Detailed description of the invention
Embodiment:
Structural representation of the present invention is as Fig. 1, 2, 3, shown in 4, Three Degree Of Freedom electric rotating machine of the present invention, include electric machine stand 1, rotary body 2, coil groups 3, motor output shaft 4, permanent magnet 5, permanent magnet supports cover 6, motor hood 7, wire 10, wherein electric machine stand 1 and motor hood 7 are all provided with hollow cavity, motor output shaft 4 is fixed on rotary body 2, rotary body 2 is equiped with coil groups 3, permanent magnet 5 is installed on permanent magnet supports cover 6, the inner surface that outer surface and the permanent magnet supports of rotary body 2 overlap 6 matches, rotary body 2 can rotate in the hollow cavity that permanent magnet supports overlaps set by 6, permanent magnet supports cover 6 is placed in the hollow cavity set by electric machine stand 1, the outer surface of permanent magnet supports cover 6 contacts with the inner surface of electric machine stand 1, electric machine stand 1 is connected with motor hood 7, one end external power supply of wire 10 just, negative electrode, the other end of wire 10 is connected with the coil groups 3 set by rotary body 2.
Above-mentioned support set 6 and motor hood 7 and electric machine stand 1 inner surface interference fit, be fastened by the groove of motor hood 7 and the antelabium of electric machine stand 1.And keep certain distance between rotary body 2 and permanent magnet 5.
In the present embodiment, above-mentioned rotary body 2 is spherical structure, and the outer surface of rotary body 2 has loop coil group draw-in groove 8, and the geometric center of coil groups draw-in groove 8 overlaps with the geometric center of rotary body 2.
In the present embodiment, above-mentioned coil groups draw-in groove 8 is also provided with the metallic channel 9 leading to geometric center direction, wire 10 pierces in metallic channel 9.After wire 10 pierces into metallic channel 9, one end is connected with external power supply, and the other end is connected with the coil groups 3 set by rotary body 2.
In the present embodiment, above-mentioned rotary body is arranged in the coil of some coil groups that same disk is installed for being connected in parallel.
In the present embodiment, the quantity of the coil groups 3 that above-mentioned rotary body is installed is 12, wherein 4 coil groups form a disk, 12 coil groups form 3 disks, orthogonal between two in 3 disks, be arranged in the coil of 4 coil groups on same disk for being connected in parallel, the coil groups in each disk does not connect each other.
In the present embodiment, the coil groups 3 in above-mentioned rotary body 2 is fixed on the coil groups draw-in groove 8 set by rotary body 2, and the two ends of the coil groups 3 of rotary body 2 are connected with one end of wire 10.
In each disk, the coil groups 3 be mounted opposite is identical by the direction of the electric current 11 that wire 10 transmits, pointing in the magnetic field at disk center produce perpendicular to the contrary Lorentz force of disk both direction perpendicular to the sense of current, make rotary body 2 around own axis.In like manner, another also can make rotary body 2 rotate around another axis the coil groups 3 be mounted opposite in the acting in conjunction in electric current 11 and magnetic field.Above-mentioned two rotary motions can synthesize a new rotary motion.
In the present embodiment, the outer surface of above-mentioned permanent magnet supports cover 6 is laid with some mounting grooves, and some permanent magnets 5 are fixed on the mounting groove of permanent magnet supports cover set by 6.
In the present embodiment, the outer surface of above-mentioned permanent magnet supports cover 6 is arc surface, the mounting groove that permanent magnet supports cover 6 is provided with is arc surface mounting groove, and permanent magnet 5 also makes the permanent magnet plate that surface is arc surface, and the permanent magnet 5 of arc surface is installed in permanent magnet supports and overlaps on the 6 arc surface mounting grooves be provided with.
The effect of permanent magnet 5 produces the magnetic field that rotary body 2 geometric center is pointed in direction, makes the direction of the electric current 11 that magnetic direction and coil groups 3 are passed through perpendicular.
Operation principle of the present invention is as follows: in each disk of rotary body 2, the direction of the electric current 11 through wire 10 transmission that the coil groups 3 be mounted opposite is passed through is identical, pointing in the magnetic field at disk center produce perpendicular to the contrary Lorentz force of disk both direction perpendicular to the sense of current, make rotary body 2 around own axis.In like manner, another also can make rotary body 2 rotate around another axis the coil groups 3 be mounted opposite in the acting in conjunction in electric current 11 and magnetic field.Above-mentioned two rotary motions can synthesize a new rotary motion.
The present invention is used for robot controlling, can control machine person joint be rotated around X-axis, rotates and rotate the motion on three directions around Z axis around Y-axis simultaneously, realize three-dimensional any attitude, expand control range by a motor.In addition, because motor output torque is comparatively large, and control reliable, therefore can delete the precision speed reduction device be arranged on joint of robot, reduce robot building cost further with this, simplify robot overall structure, and alleviate the load of robot arm.
The above embodiment only have expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as limitation of the scope of the invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with claims.
Claims (8)
1. a Three Degree Of Freedom electric rotating machine, it is characterized in that including electric machine stand, rotary body, coil groups, motor output shaft, permanent magnet, permanent magnet supports cover, motor hood, wire, wherein electric machine stand and motor hood are all provided with hollow cavity, motor output shaft is fixed on rotary body, rotary body is equiped with coil groups, permanent magnet is installed in permanent magnet supports and puts, the inner surface that outer surface and the permanent magnet supports of rotary body overlap matches, rotate physical efficiency to rotate in the hollow cavity set by permanent magnet supports cover, permanent magnet supports is placed in the hollow cavity set by electric machine stand, the outer surface of permanent magnet supports cover contacts with the inner surface of electric machine stand, electric machine stand is connected with motor hood, one end external power supply of wire just, negative electrode, the other end of wire is connected with the coil groups set by rotary body.
2. Three Degree Of Freedom electric rotating machine according to claim 1, is characterized in that above-mentioned rotary body is spherical structure, and the outer surface of rotary body has loop coil group draw-in groove, and the geometric center of coil groups draw-in groove overlaps with the geometric center of rotary body.
3. Three Degree Of Freedom electric rotating machine according to claim 2, it is characterized in that above-mentioned coil groups draw-in groove is also provided with the metallic channel leading to geometric center direction, wire pierces in metallic channel.
4. the Three Degree Of Freedom electric rotating machine according to any one of claims 1 to 3, is characterized in that the coil above-mentioned rotary body being arranged in some coil groups that same disk is installed is for being connected in parallel.
5. Three Degree Of Freedom electric rotating machine according to claim 4, it is characterized in that the quantity of the coil groups that above-mentioned rotary body is installed is 12, wherein 4 coil groups form a disk, 12 coil groups form 3 disks, orthogonal between two in 3 disks, be arranged in the coil of 4 coil groups on same disk for being connected in parallel, the coil groups in each disk does not connect each other.
6. Three Degree Of Freedom electric rotating machine according to claim 4, it is characterized in that the coil groups in above-mentioned rotary body is fixed on the coil groups draw-in groove set by rotary body, the two ends of the coil groups of rotary body are connected with one end of wire.
7. Three Degree Of Freedom electric rotating machine according to claim 4, is characterized in that the outer surface that above-mentioned permanent magnet supports overlaps is laid with some mounting grooves, and some permanent magnets are fixed on the mounting groove set by permanent magnet supports cover.
8. Three Degree Of Freedom electric rotating machine according to claim 7, it is characterized in that the outer surface that above-mentioned permanent magnet supports overlaps is arc surface, the mounting groove that permanent magnet supports is arranged with is arc surface mounting groove, permanent magnet also makes surface for the permanent magnet plate of arc surface, and the permanent magnet of arc surface is installed on the arc surface mounting groove that permanent magnet supports is arranged with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510485315.4A CN105108730B (en) | 2015-08-10 | 2015-08-10 | Three-degree-of-freedom rotating motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510485315.4A CN105108730B (en) | 2015-08-10 | 2015-08-10 | Three-degree-of-freedom rotating motor |
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| CN105108730A true CN105108730A (en) | 2015-12-02 |
| CN105108730B CN105108730B (en) | 2017-04-12 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60204252A (en) * | 1984-03-28 | 1985-10-15 | Agency Of Ind Science & Technol | Three-dimensional motor |
| CN101282070A (en) * | 2008-05-12 | 2008-10-08 | 天津大学 | Three-freedom Halback array permanent magnetism sphericity synchronous motor |
| CN101505076A (en) * | 2009-03-11 | 2009-08-12 | 哈尔滨工程大学 | Underwater globular motor propeller |
| CN101527491A (en) * | 2009-04-21 | 2009-09-09 | 安徽大学 | Three-degree-of-freedom-motion permanent magnetic spherical step motor |
| CN103780041A (en) * | 2013-10-08 | 2014-05-07 | 何国华 | Spherical hinge universal rotary motor, and manufacturing method and operating method thereof |
| RO130189A2 (en) * | 2013-08-20 | 2015-04-30 | Marius Arghirescu | Magneto-electrical motor using magnetic repulsion |
| CN204772523U (en) * | 2015-08-10 | 2015-11-18 | 广东工业大学 | Three degree of freedom rotating electrical machiness |
-
2015
- 2015-08-10 CN CN201510485315.4A patent/CN105108730B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60204252A (en) * | 1984-03-28 | 1985-10-15 | Agency Of Ind Science & Technol | Three-dimensional motor |
| CN101282070A (en) * | 2008-05-12 | 2008-10-08 | 天津大学 | Three-freedom Halback array permanent magnetism sphericity synchronous motor |
| CN101505076A (en) * | 2009-03-11 | 2009-08-12 | 哈尔滨工程大学 | Underwater globular motor propeller |
| CN101527491A (en) * | 2009-04-21 | 2009-09-09 | 安徽大学 | Three-degree-of-freedom-motion permanent magnetic spherical step motor |
| RO130189A2 (en) * | 2013-08-20 | 2015-04-30 | Marius Arghirescu | Magneto-electrical motor using magnetic repulsion |
| CN103780041A (en) * | 2013-10-08 | 2014-05-07 | 何国华 | Spherical hinge universal rotary motor, and manufacturing method and operating method thereof |
| CN204772523U (en) * | 2015-08-10 | 2015-11-18 | 广东工业大学 | Three degree of freedom rotating electrical machiness |
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| CN105108730B (en) | 2017-04-12 |
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Inventor after: Yang Chunyan Inventor after: Luo Liangwei Inventor before: Luo Liangwei Inventor before: Yang Chunyan |
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