CN109245356A - Circular arc joint motor - Google Patents
Circular arc joint motor Download PDFInfo
- Publication number
- CN109245356A CN109245356A CN201811086319.5A CN201811086319A CN109245356A CN 109245356 A CN109245356 A CN 109245356A CN 201811086319 A CN201811086319 A CN 201811086319A CN 109245356 A CN109245356 A CN 109245356A
- Authority
- CN
- China
- Prior art keywords
- stator
- circular arc
- rotor
- artificial
- arc joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/17—Stator cores with permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of circular arc joint motors, including stator, rotor, winding and magnet steel, the stator is the fan-shaped arc structure an of open loop, the stator is mounted on stator installation seat, the rotor is located in the stator and is installed in rotation on the stator installation seat, and the rotor does reciprocally swinging in the stator.The present invention uses open type stator armature, swing type rotor structure, has not only met the needs of small size, small weight, but also realize the copying of circular arc joint motor.The present invention provides a kind of completely new artificial ectoskeleton, emulated robot, emulation machine animal and emulation long fin machine fish circular arc joint motor technology products, it can satisfy specific demand of the artificial animal to motor, it can be used for driving artificial ectoskeleton, emulated robot, the fields such as artificial animal and the swinging joint for emulating longfin shape naval vessels.
Description
Technical field
The present invention relates to motor, relate in particular to a kind of for artificial ectoskeleton, the circular arc joint electricity of emulation biology
Machine.
Background technique
Currently, artificial ectoskeleton, emulated robot, artificial animal (robot dog, machine donkey) and the emulation risen in the whole world
In longfin upsurge, the development of especially intelligent anthropomorphic robot, so that people is seen a kind of trend: future is had come to.
No matter from film either in exhibition, we can see these robots and our mankind grow increasingly as.But
See their movement, we still can find out the trace of mechanical movement.Especially the movement of finger is not very smooth, this is because
The movement in the joint of finger is moved using the frame mode of lacing wire, and motor pattern is to use steel wire as our finger
The tendon of our fingers is simulated to drive the movement of finger, control motor is all mounted in arm.Such mechanical structure due to
There are certain gap, execution movement has a delay.
Currently, the artificial ectoskeleton of whole world intelligence, emulated robot development speed are surprising, the performance of various robots becomes one
Kind entertainment form.The artificial ectoskeleton in China, emulated robot and the artificial ectoskeleton of Japan, emulated robot development speed
It is very fast, there are the artificial ectoskeleton of sense of touch, emulated robot ready to appear in each laboratory.
It according to artificial ectoskeleton, the growth requirement of emulated robot, needs a compact-sized, is able to satisfy various power
Demand, artificial ectoskeleton, emulated robot (machine animal, long fin emulation fish) joint that full electric drive control may be implemented are electronic
Machine.That is need it is a not only having had the characteristics that conventional motors characteristic but also have both joint reciprocally swinging, have both economy
Property, structure be smaller, simpler artificial ectoskeleton, simulation robot joint motor and solution.
Summary of the invention
The object of the present invention is to provide a kind of completely new circular arc joint motors, dedicated for artificial ectoskeleton, replicating machine
Device person joint, artificial ectoskeleton, emulated robot finger-joint design of electrical motor, to realize artificial ectoskeleton, emulated robot
Closer to the design object of the movement for the mankind, animal and the fish being imitated.
To realize above-mentioned target, the technical solution adopted by the present invention is that: a kind of circular arc joint motor, including stator, rotor,
Winding and magnet steel, the stator are the fan-shaped arc structures an of open loop, and the stator is mounted on stator installation seat, described turn
Son is located in the stator and is installed in rotation on the stator installation seat, and the rotor is done back and forth in the stator
It swings.
Further, the angle of the circular arc of the stator is less than 180 degree.
Further, the angle of the circular arc of the stator is between 90 degree of -150 degree.
Further, the angle of the rotor swing is within 180 degree.
Further, the rotor is provided with rotor connecting member far from the side of the stator.
Further, the inner surface of the stator is arranged in the winding, and the appearance of the rotor is arranged in the magnet steel
Face.
Further, the outer surface of the rotor is arranged in the winding, and the interior table of the stator is arranged in the magnet steel
Face.
The present invention considers various demands of the circular arc joint motor in movement (swing), and it is fixed rationally to have handled opening circular arc
It is son, rotor (swing arm) middle-containing structure (being moved between the spring bearing of both ends) swung, short axle long (more easily hidden), closer
Joint of animal structure, lightweight and full electric drive control integrated circular arc joint motor, in a limited space in range, most
Limits utilize space, and the open type arc structure of the stator armature of circular arc joint motor is designed into closer to real joint
Level；It leaves relatively to the drive control communication of circular arc joint motor and power source bus to biggish installation space (nothing
Mechanical transmission structure)；It has fully considered the swing working condition of open type circular arc joint motor in practical applications, has met imitative
The circular arc joint motor of the form really to work, design can be made shorter compared to traditional electric machine structure axial length, strong not reducing
Under conditions of degree, weight is alleviated, meets the radiating requirements (design of stator openings structure) of circular arc joint motor armature, realizes
Circular arc joint electric motor structure is compact, sensitivity, the higher design object of flexibility ratio.
The present invention provides a kind of completely new artificial ectoskeleton, emulated robot, emulation machine animal and the long fin machines of emulation
Device fish circular arc joint motor technology product, can satisfy specific demand of the artificial animal to motor, can be used for driving people
Work ectoskeleton, emulated robot, the neck such as artificial animal (robot dog, machine donkey) and the swinging joint for emulating longfin shape naval vessels
Domain provides the power motor technical products of completely new executing agency for the research and development of China's artificial animal.
Detailed description of the invention
Attached drawing is used to provide to further understand the technology of the present invention, and constitutes part of specification, with the present invention
The examples of implementation of technology are used to explain that together this technology to be invented, and are not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the working principle of the invention block diagram.
In Fig. 1, including stator installation seat 1, mounting hole 2, stator 3, winding 4, magnet steel 5, rotor 6, rotor connecting member 7, turn
Axis 8, air gap 9.
Specific embodiment
The preferred embodiment invented below in conjunction with attached drawing this technology is illustrated, it should be understood that described herein excellent
It selects embodiment to be only used for describing and explaining this technology invention, is not used to limit this technology invention.
According to Fig. 1, a kind of circular arc joint motor, including stator 3 and rotor 6, there are gas between stator 3 and rotor 6
Gap 9.
Stator 3 is the fan-shaped arc structure an of open loop, and the angle of circular arc is less than 180 degree, generally in 90 degree of -150 degree
Between.Stator 3 is mounted on stator installation seat 1, and stator installation seat 1 equally plays circular arc joint motor stator armature after mounting
Structural support effect forms support and improves connection structure intensity.Mounting hole 2 is provided on stator installation seat 1, mounting hole 2 is used for
Stator installation seat 1 is installed and is fixed.
Rotor 6 is located in the circular arc of stator 3, and is installed in rotation on stator installation seat 1 by shaft 8, rotor 6
Reciprocally swinging is done around shaft 8 in stator 3.Bearing is additionally provided between shaft 8 and stator installation seat 1.The angle of rotor swing
Degree is within 180 degree.Rotor 6 is provided with rotor connecting member 7 far from the side of stator 3, and rotor connecting member 7 is used for other zero
Part is connected on rotor 6.
The present invention is driven by mutually matched winding 4 and magnet steel 5.There are two types of arrangement forms for winding 4 and magnet steel 5: one is
The inner surface of stator 3 is arranged in winding 4, and the outer surface of rotor 6 is arranged in magnet steel 5；Another kind is that rotor 6 is arranged in winding 4
The inner surface of stator 3 is arranged in outer surface, magnet steel 5.
The present invention is a kind of lacing wire mechanical driving structure different from emulating joint at present, is different from common circumference motor
Closed loop configuration a kind of open loop type circular arc joint drive motor, that is, have one section opening circular arc motor stator, be drivingly connected
The circular arc motor that the arm of force (finger joint or arm joint) of rotor moves reciprocatingly；The stator arc of this circular arc joint motor
Length can arbitrarily be set according to the scope of activities in emulation joint, and the full electric drive in emulation joint, and this emulation may be implemented
The intelligentized control method of any angle may be implemented in the reciprocating motion in joint；Replaced with emulation circular arc joint motor universal in the world
The lacing wire joint mechanism of application has structure simple, light-weight, and flexibly, it is less to consume electric energy for no mechanical loss for movement；
When this circular arc joint motor is used as finger shutdown motor, the finger movement of mathematical model energy human simulation is accustomed to and effect
28 joint motors of finger are provided different torque and revolving speed and complete various movements as human finger by the combination of energy
And work, except of course that this circular arc joint motor of finger can be used for the joints such as wrist, knee, hip joint, elbow joint fortune
Dynamic control, can be used for the joint motor of other artificial animals, the reciprocating motion drive motor of the long fin of emulation fish.
The open type stator armature of circular arc joint motor, swing type rotor structure may be implemented in the present invention in practical applications
Design.It is swung between bearing supported on both sides since present invention employs rotors and the integration of motor stator armature support member is set
Meter, under the premise of not lowering structural strength, had not only met the needs of small size, small weight, but also realize circular arc joint motor
Copying.In the cavity of armature mounting base, the electric drive communication line and electricity of circular arc joint motor can be installed
Source bus.
The present invention is simple in addition to structure, other than simulation quality and good reliability, can be realized the motor lightweight of circular arc joint
Design and compact-sized design object possess the characteristic of very high power density ratio and the application of more scenes, are that one kind has very much
The technological invention of industrialization future.Can be in artificial ectoskeleton, emulated robot, artificial animal (robot dog, machine donkey) and imitative
True longfin naval vessels drive area is widely used.
Finally, it should be noted that being not limited to this foregoing is merely the preferred embodiment of this technology invention
Technological invention comes for those skilled in the art although this technology invention is described in detail referring to aforementioned drawing
It says, can still modify to technical solution documented by aforementioned each case study on implementation, or to part of technical characteristic
It is equivalently replaced.Within all spirit and principle invented in this technology, any modification, equivalent replacement, improvement and so on,
It should be included within the protection scope of this technology invention.
Claims (7)
1. a kind of circular arc joint motor, including stator, rotor, winding and magnet steel, it is characterized in that: the stator is an open loop
Fan-shaped arc structure, the stator are mounted on stator installation seat, and the rotor is located in the stator and rotationally pacifies
On the stator installation seat, the rotor does reciprocally swinging in the stator.
2. circular arc joint motor according to claim 1, it is characterized in that: the angle of the circular arc of the stator is less than 180 degree.
3. circular arc joint motor according to claim 2, it is characterized in that: the angle of the circular arc of the stator is at 90 degree -150
Between degree.
4. circular arc joint motor according to claim 1, it is characterized in that: the angle of the rotor swing is within 180 degree.
5. circular arc joint motor according to claim 1, it is characterized in that: the rotor is arranged far from the side of the stator
There is rotor connecting member.
6. circular arc joint motor according to claim 1, it is characterized in that: the interior table of the stator is arranged in the winding
The outer surface of the rotor is arranged in face, the magnet steel.
7. circular arc joint motor according to claim 1, it is characterized in that: the appearance of the rotor is arranged in the winding
The inner surface of the stator is arranged in face, the magnet steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811086319.5A CN109245356A (en) | 2018-09-18 | 2018-09-18 | Circular arc joint motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811086319.5A CN109245356A (en) | 2018-09-18 | 2018-09-18 | Circular arc joint motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109245356A true CN109245356A (en) | 2019-01-18 |
Family
ID=65058963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811086319.5A Pending CN109245356A (en) | 2018-09-18 | 2018-09-18 | Circular arc joint motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109245356A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201118424Y (en) * | 2007-09-06 | 2008-09-17 | 武汉工程大学 | Joint line electromotor |
| JP2008295241A (en) * | 2007-05-25 | 2008-12-04 | Toyota Industries Corp | Oscillatory actuator |
| CN103765735A (en) * | 2011-09-20 | 2014-04-30 | 日立建机株式会社 | Generator motor and electric vehicle using same |
| CN104716811A (en) * | 2015-02-09 | 2015-06-17 | 北京理工大学 | Switch magnetic flow arc-shaped permanent magnet motor |
| CN105226891A (en) * | 2014-07-03 | 2016-01-06 | 济南大学 | A kind of globular motor |
| CN106341025A (en) * | 2016-10-19 | 2017-01-18 | 山东大学 | Two-degree-freedom mixed type stepping motor with spherical structure and application thereof |
| CN106451994A (en) * | 2016-10-19 | 2017-02-22 | 山东大学 | Two-freedom-degree hybrid stepping motor for bionic eyeballs of robot |
| CN106787552A (en) * | 2017-02-28 | 2017-05-31 | 常州市裕成富通电机有限公司 | A kind of copper casting rotor induction machine |
| CN208835861U (en) * | 2018-09-18 | 2019-05-07 | 艾德斯汽车电机无锡有限公司 | Circular arc joint motor |
| CN115912843A (en) * | 2023-01-04 | 2023-04-04 | 南京信息工程大学 | Combined two-degree-of-freedom permanent magnet stepping motor |
-
2018
- 2018-09-18 CN CN201811086319.5A patent/CN109245356A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008295241A (en) * | 2007-05-25 | 2008-12-04 | Toyota Industries Corp | Oscillatory actuator |
| CN201118424Y (en) * | 2007-09-06 | 2008-09-17 | 武汉工程大学 | Joint line electromotor |
| CN103765735A (en) * | 2011-09-20 | 2014-04-30 | 日立建机株式会社 | Generator motor and electric vehicle using same |
| CN105226891A (en) * | 2014-07-03 | 2016-01-06 | 济南大学 | A kind of globular motor |
| CN104716811A (en) * | 2015-02-09 | 2015-06-17 | 北京理工大学 | Switch magnetic flow arc-shaped permanent magnet motor |
| CN106341025A (en) * | 2016-10-19 | 2017-01-18 | 山东大学 | Two-degree-freedom mixed type stepping motor with spherical structure and application thereof |
| CN106451994A (en) * | 2016-10-19 | 2017-02-22 | 山东大学 | Two-freedom-degree hybrid stepping motor for bionic eyeballs of robot |
| CN106787552A (en) * | 2017-02-28 | 2017-05-31 | 常州市裕成富通电机有限公司 | A kind of copper casting rotor induction machine |
| CN208835861U (en) * | 2018-09-18 | 2019-05-07 | 艾德斯汽车电机无锡有限公司 | Circular arc joint motor |
| CN115912843A (en) * | 2023-01-04 | 2023-04-04 | 南京信息工程大学 | Combined two-degree-of-freedom permanent magnet stepping motor |
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