CN105226891A - A kind of globular motor - Google Patents
A kind of globular motor Download PDFInfo
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- CN105226891A CN105226891A CN201410313375.3A CN201410313375A CN105226891A CN 105226891 A CN105226891 A CN 105226891A CN 201410313375 A CN201410313375 A CN 201410313375A CN 105226891 A CN105226891 A CN 105226891A
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- circular arc
- arc stator
- spherical
- stator
- mover
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Abstract
A kind of globular motor, comprise annular seating 1, spherical mover 2, mover connector 6, oval arc stator 3, vice-minister's circular arc stator 4, short circular arc stator 5, drag reduction ball 7, wherein oval arc stator 3, vice-minister's circular arc stator 4, short circular arc stator 5 are linked together by mover connector 6 and annular seating 1, composition one.Belong to technical field of motors.Based on the general principle of camber linear induction motor, by designing a kind of structure of new model, provide differ from existing camber stator motor can realize the spherical motor that mover (secondary) 360 degree of any directions turn to.Be used in many occasions of direction movement, such as, serve as wheel, car can 360 degree easily advance, simplification car wheel structure.
Description
Technical field
The present invention relates to a kind of multivariant spherical motor, belong to technical field of motors.
Background technology
Present round wheeled vehicle can only realize advancing of a direction, needs to use steering mechanism to realize when turning to, and complex structure, and the limited angle rotated, cannot realize 360 degree and advance.Such as, on crowded parking stall, automobile has to pass through loaded down with trivial details forward-reverse and just can rest on parking stall, loses time, and needs driver to have superb roadcraft, and spacing is relatively large simultaneously, the parking space that waste is valuable.
Camber stator motor is a kind of typical collar plate shape linear electric motors, and it does camber by elementary, and is placed in outside the secondary face of cylinder, also referred to as the secondary linear electric motors of the elementary cylinder of camber.Although collar plate shape linear electric motors are actually and circle, due to its structural shape and motion principle and platypelloid type linear electric motors basically identical, therefore still can merger among the category of linear electric motors.Camber stator motor follows the general principle of linear induction motor equally, similar with rotary induction motor, also can be divided into three-phase, two-phase or single-phase.The secondary of camber stator motor is the cylinder rotated around fixed axis, because its rotating shaft is fixed, so cannot realize the rotation in other directions.
Summary of the invention
For enabling car 360 degree easily advance, simplify car wheel structure, the present invention patent discloses a kind of spherical motor.The present invention is based on the general principle of camber linear induction motor, by designing a kind of structure of new model, provide differ from existing camber stator motor can realize the spherical motor that mover (secondary) 360 degree of any directions turn to.
The technical scheme that the present invention adopts for its technical problem of solution is as follows.
Multivariant spherical motor proposed by the invention comprises annular seating, spherical mover, mover connector, oval arc stator, vice-minister's circular arc stator, short circular arc stator, drag reduction ball.Oval arc stator, vice-minister's circular arc stator, short circular arc stator are linked together by mover connector and annular seating, and composition one, is placed in above spherical mover.Drag reduction ball is placed in episphere and lower semisphere respectively, prevents spherical mover from coming off from circular arc stator.
The invention is characterized in: described oval arc stator overlook direction prolong diameter settle, vice-minister's circular arc stator, short circular arc stator are placed in oval arc stator both sides successively at equal intervals overlooking direction, and vice-minister's circular arc stator, short circular arc stator are respectively 6,8.Angle between circular arc stator is 22.5 degree.The number of circular arc stator can increase according to the size of spherical mover and circular arc stator, but the angle between them is equal.
The invention is characterized in: described oval arc stator is circular arc, be made up of the iron core of spline and the coil of embedding teeth groove; The both ends of described iron core are processed with spherical groove, are processed with spherical groove at the middle part of iron core; Described circular arc stator is processed into sphere near the side of spherical mover, and concentric with spherical mover.
The invention is characterized in: described vice-minister's circular arc stator, short circular arc stator are circular arc, be made up of the iron core of spline and the coil of embedding teeth groove; The end of described iron core is processed with spherical groove; Described circular arc stator is processed into sphere near the side of spherical mover, and concentric with spherical mover.
The invention is characterized in: described spherical mover is made up of friction coat, spheric conductor, spherical permeability magnetic material; Described spheric conductor is copper or aluminium; It is characterized in that spherical permeability magnetic material is iron or steel.
Beneficial effect of the present invention is: the present invention can realize mover (i.e. wheel) and rotate to any direction in plane, and structure is simple, in multiple degrees of freedom equipment, have good application prospect.Can transmission mechanism be simplified when it is installed and serves as wheel onboard, realize the quick response of motor, facilitate turning to of car; Be used as when joint uses when it and can obtain action more flexibly.
Accompanying drawing explanation
Fig. 1 is the cross section structure schematic diagram of patent embodiment of the present invention.
Fig. 2 is total vertical view of patent embodiment of the present invention.
Fig. 3 is the elementary layout vertical view of patent embodiment of the present invention.
Fig. 4 is the elementary schematic cross-section of length of patent embodiment of the present invention.
Fig. 5 is that the vice-minister of patent embodiment of the present invention is elementary, cutting back primitive plane schematic diagram.
In figure: 1 annular seating; 2 spherical movers; 6 mover connectors; 3 oval arc stators; 4 vice-minister's circular arc stators; 5 short circular arc stators; 7 drag reduction balls; 31,41 is unshakable in one's determination; 32,42 coils; 33,34,43 spherical grooves; 8 friction coats; 9 spheric conductors; 10 spherical permeability magnetic materials.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
As shown in the figure, the main embodiment of a kind of globular motor of the present invention forms primarily of annular seating 1, spherical mover 2, mover connector 6, oval arc stator 3, vice-minister's circular arc stator 4, short circular arc stator 5, drag reduction ball 7.Wherein oval arc stator 3 prolongs diameter and settles overlooking direction, and vice-minister's circular arc stator 4, short circular arc stator 5 are placed in oval arc stator 3 both sides successively at equal intervals overlooking direction, and vice-minister's circular arc stator 4, short circular arc stator 5 are respectively 6,8.Oval arc stator 3 comprises the iron core 31 of spline, embeds heterogeneous (two-phase, three-phase or more phase) coil 32 of teeth groove.Be processed with spherical groove 34 at the both ends of unshakable in one's determination 31, be processed with spherical groove 33 at the middle part of unshakable in one's determination 31, among drag reduction ball 7 is placed in, be used for reducing friction resistance.Vice-minister's circular arc stator 4 and short circular arc stator 5 structural similarity, comprise the iron core 41 of spline, embeds heterogeneous (two-phase, three-phase or more phase) coil 42 of teeth groove.Be processed with spherical groove 43 at the both ends of unshakable in one's determination 41, among drag reduction ball 7 is placed in, be used for reducing friction resistance.Circular arc stator 3,4 is processed into sphere near the side of spherical mover, and concentric with spherical mover.The secondary class of spherical mover 2 and single sided linear induction motor seemingly, is made up of friction coat 8, spheric conductor 9, spherical permeability magnetic material 10.Spheric conductor 9 is copper or aluminium, and spherical permeability magnetic material 10 is iron or steel.Circular arc stator 3,4 is separated relative with spherical mover 2 by air gap.
Heterogeneous (two-phase, three-phase or more phase) coil 42 winding in figure adopts usual manner to form, as adopted wave winding, lap winding or mixed winding etc.
Embedding of heterogeneous (two-phase, three-phase or more phase) coil 42 winding can the mode that embed of line inductance electromotor and technique be carried out routinely.
Claims (4)
1. a globular motor, comprise annular seating 1, spherical mover 2, mover connector 6, oval arc stator 3, vice-minister's circular arc stator 4, short circular arc stator 5, drag reduction ball 7, described oval arc stator 3, vice-minister's circular arc stator 4, short circular arc stator 5 is linked together by mover connector 6 and annular seating 1, composition one, it is characterized in that oval arc stator 3 overlook direction prolong diameter settle, vice-minister's circular arc stator 4, short circular arc stator 5 is placed in oval arc stator 3 both sides successively at equal intervals overlooking direction, vice-minister's circular arc stator 4, short circular arc stator 5 is respectively 6, 8.
2. a kind of globular motor according to claim 1, is characterized in that oval arc stator 3 is circular arc, is made up of the iron core 31 of spline and the coil 32 of embedding teeth groove; It is characterized in that the both ends unshakable in one's determination 31 are processed with spherical groove 34, be processed with spherical groove 33 at the middle part of unshakable in one's determination 31; It is characterized in that described circular arc stator is processed into sphere near the side of spherical mover, and concentric with spherical mover.
3. a kind of globular motor according to claim 1, is characterized in that vice-minister's circular arc stator 4, short circular arc stator 5 is circular arc, is made up of the iron core 41 of spline and the coil 42 of embedding teeth groove; It is characterized in that the end unshakable in one's determination 41 is processed with spherical groove 43.
4. a kind of globular motor according to claim 1, is characterized in that spherical mover 2 is made up of friction coat 8, spheric conductor 9, spherical permeability magnetic material 10; It is characterized in that spheric conductor 9 is for copper or aluminium; It is characterized in that spherical permeability magnetic material 10 is iron or steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410313375.3A CN105226891A (en) | 2014-07-03 | 2014-07-03 | A kind of globular motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410313375.3A CN105226891A (en) | 2014-07-03 | 2014-07-03 | A kind of globular motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105226891A true CN105226891A (en) | 2016-01-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410313375.3A Pending CN105226891A (en) | 2014-07-03 | 2014-07-03 | A kind of globular motor |
Country Status (1)
| Country | Link |
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| CN (1) | CN105226891A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106877608A (en) * | 2017-03-15 | 2017-06-20 | 天津大学 | Three Degree Of Freedom permanent magnet spherical motor |
| CN108448867A (en) * | 2018-04-27 | 2018-08-24 | 天津大学 | A kind of permanent magnetism spherical motor with outer-rotor structure |
| CN109245356A (en) * | 2018-09-18 | 2019-01-18 | 艾德斯汽车电机无锡有限公司 | Circular arc joint motor |
| CN110304130A (en) * | 2017-03-31 | 2019-10-08 | 福特全球技术公司 | The servo steering system of motor vehicles and the motor vehicles |
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101505076A (en) * | 2009-03-11 | 2009-08-12 | 哈尔滨工程大学 | Underwater globular motor propeller |
| US20090230787A1 (en) * | 2008-02-29 | 2009-09-17 | Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) | Spherical motor rotating in multiple degrees of freedom |
| CN101777851A (en) * | 2010-03-17 | 2010-07-14 | 天津大学 | Three degree of freedom spherical motor with multiple physical field mixing driving |
| CN202160025U (en) * | 2011-07-29 | 2012-03-07 | 上海理工大学 | Multi-freedom degree spherical motor |
-
2014
- 2014-07-03 CN CN201410313375.3A patent/CN105226891A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090230787A1 (en) * | 2008-02-29 | 2009-09-17 | Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) | Spherical motor rotating in multiple degrees of freedom |
| CN101505076A (en) * | 2009-03-11 | 2009-08-12 | 哈尔滨工程大学 | Underwater globular motor propeller |
| CN101777851A (en) * | 2010-03-17 | 2010-07-14 | 天津大学 | Three degree of freedom spherical motor with multiple physical field mixing driving |
| CN202160025U (en) * | 2011-07-29 | 2012-03-07 | 上海理工大学 | Multi-freedom degree spherical motor |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106877608A (en) * | 2017-03-15 | 2017-06-20 | 天津大学 | Three Degree Of Freedom permanent magnet spherical motor |
| CN110304130A (en) * | 2017-03-31 | 2019-10-08 | 福特全球技术公司 | The servo steering system of motor vehicles and the motor vehicles |
| CN108448867A (en) * | 2018-04-27 | 2018-08-24 | 天津大学 | A kind of permanent magnetism spherical motor with outer-rotor structure |
| CN109245356A (en) * | 2018-09-18 | 2019-01-18 | 艾德斯汽车电机无锡有限公司 | Circular arc joint motor |
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
| CN110877644B (en) * | 2019-11-19 | 2024-04-02 | 贵州电网有限责任公司 | Omnidirectional movement spherical robot structure driven by linear motor principle |
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Application publication date: 20160106 |
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