CN201409103Y - Centripetal pushing/pulling force magnetic suspension spherical motor - Google Patents
Centripetal pushing/pulling force magnetic suspension spherical motor Download PDFInfo
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- CN201409103Y CN201409103Y CN2009200390327U CN200920039032U CN201409103Y CN 201409103 Y CN201409103 Y CN 201409103Y CN 2009200390327 U CN2009200390327 U CN 2009200390327U CN 200920039032 U CN200920039032 U CN 200920039032U CN 201409103 Y CN201409103 Y CN 201409103Y
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Abstract
The utility model relates to a centripetal pushing/pulling force magnetic suspension spherical motor and belongs to the field of electric motor technology. The centripetal pushing/pulling force magnetic suspension spherical motor comprises a spherical motor which consists of a spherical motor shell, a stator, a spherical rotator and an output rotating arm, and a detecting control system. The spherical motor shell is formed from prismoid or cylinder and takes the cylinder axes as the center line to be provided with a main shaft through hole. The cylinder lateral surface is uniformly provided with at least four vertical plane through holes vertical with the main shaft through hole. The stator is provided with a plurality of salient pole stators. The vertical plane through holes are internally provided with the salient pole stators or an electromagnet clamping device. The salient pole stators are fixed on the shell through an end cover with a hole. The detecting control system consists ofindependent control subsystems in X, Y, and Z coordinate axes directions. A sensor in the detecting control system is arranged in the hole of the end cover. The utility model has simple, reasonable and compact structure, small volume and light weight, can realize no friction and no abrasion between the spherical rotator and the stator, and has excellent dynamic performance, fast response speed, high electrical efficiency and long service life.
Description
Technical field
The utility model relates to a kind of motor with a plurality of rotary freedom driving forces, belongs to electromechanical integration technology area.
Background technology
The multi-degree of freedom spherical motor refers to have two or three rotary freedoms, can walk around the spatial axis motor rotating of fixed point.It has characteristics such as mechanical integrated level height, electric machine structure material and driving control system element utilance height, in having the mechanical system of a plurality of freedoms of motion, a multi-freedom electric motor can replace two or many single-degree-of-freedom motors, simplify the structure of mechanical system greatly, reduce volume and weight, can eliminate because shortcomings such as backlash that gear drive brings and frictions, thereby improve the precision and the dynamic property of system, improve the ratio of performance to price, and taking advantage aspect control and the trajectory planning.Therefore the multi-degree of freedom spherical motor is with a wide range of applications in the universal wheel of the joint of the joint of robot and manipulator, multi-coordinate machining center, aviation aircraft, electric gyro, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medicine equipment, camera operation platform, panoramic shooting operating desk, mixer, travel mechanism, globe valve, ball pump etc. have the equipment of a plurality of freedoms of motion.But globular motor is to the supporting structure complexity of each rotor, the rotor pitching, waves with the angle of deflection for a short time, is subjected to application limitations.Existing spherical motor comprises housing, stator, spherical spinner, output pivoted arm structure and detection control system, be used for driving at a high speed, during superfast multiple degrees of freedom device, the wear problem that also has machinery (bearing) supporting, mechanical friction has not only increased the frictional resistance of rotor, and can cause the parts heating, can cause motor gas-gap inhomogeneous when serious, the dynamic characteristic variation that causes motor, thereby reduction efficiency of motor, shorten the useful life of motor and equipment, seriously restricting spherical motor and developing to the more speed direction, the performance of bearing has influenced the reliability and the equipment utilance of motor greatly.
The utility model content
The purpose of this utility model is the problems referred to above that exist at existing spherical motor, based on magnetic levitation technology and motor technology, provide a kind of mechanical integrated level height, simple in structure, do not have friction, do not have wearing and tearing, precision is high and dynamic property is good, and can make the rotor pitching, the angle of waving with deflection reaches maximum, having can be around the two degrees of freedom or multivariant entad the pushing away/the pulling force magnetic suspension spherical electromotor of spherical spinner center rotation.
The purpose of this utility model is to realize like this, entad push away/the pulling force magnetic suspension spherical electromotor, comprise the spherical motor that spherical motor housing, stator, spherical spinner, output pivoted arm constitute and detect control system, it is characterized in that the spherical motor housing made by prism or cylinder, with the column axis is center line, open two bottom surfaces of a spindle through-hole through cylinder, at column side face, uniform at least 4 vertical plane through holes perpendicular to spindle through-hole, described stator is provided with a plurality of salient pole stators, and salient pole stator or electromagnet fixture are installed in the vertical plane through hole; End at spindle through-hole embeds the salient pole stator, by end cap with holes and the positioning step in the spindle through-hole salient pole stator is fixed on the housing; At least 2 orthogonal vertical plane through hole porch embed the salient pole stator, and by the positioning step in end cap with holes and the vertical plane through hole salient pole stator are fixed on the engine housing; The salient pole end face of all salient pole stators constitutes a stator salient pole envelope ball, puts spherical spinner in this envelope spherical space, and spherical spinner is fixed into one with the output pivoted arm, and the output pivoted arm stretches to the outside by the other end of spindle through-hole; When the two is concentric, there is certain air gap between the spherical envelope inner surface of stator salient poles envelope ball and the spherical spinner outer surface; Detecting control system is made up of the independent control subsystem of x, y, three change in coordinate axis direction of z, each subsystem is provided with that the control spherical spinner suspends and suspension controller, decoupling controller, 2 Φ/3 Φ translation circuits, regulator rectifier circuit, inverter, transducer, the input treatment circuit of rotary state, and transducer is arranged in the hole on the end cap.
Described spherical motor housing is arranged at least 3 spherical motor salient pole stators around spherical spinner, wherein, rotate around column axis at least 1, wind each at least 1 that rotates perpendicular to the two-dimensional coordinate axle of column axis, under suspension controller control, realize the spherical spinner stable suspersion at the center of stator salient poles envelope ball, and drive its two-freedom or multiple degrees of freedom rotation.
Described stator is made by the material with good magnetic property, and the envelope sphere that its salient pole stator salient poles surface constitutes in the groove between each salient pole, is wound with three-phase or heterogeneous hot-wire coil winding for the spherical crown inner surface at the no end.Three-phase or heterogeneous hot-wire coil winding in the groove between stator salient poles, after the energising, coil windings will produce along the axial magnetic of stator symmetry and push away/pulling force, to realize to the one-movement-freedom-degree restriction of spherical spinner in this axis stator direction, and produce around stator symmetry axis and the magnetic torque surperficial tangent, to realize driving around stator symmetry axis rotary freedom direction with the rotor ball; A plurality of pushing away/pulling force magnetic suspension spherical motor can be realized the center of spherical spinner stable suspersion at stator salient poles envelope ball under controller control, and drives its realization two-freedom or multiple degrees of freedom rotation.
Described spherical spinner is made by the material with good magnetic property, its ball surface has vertical and continuous groove mutually, groove is divided into the rotor with salient pole of the identical small elemental area of geometry with whole ball surface, and lower conductor constitutes rotor winding or armature winding in the groove.
Described electromagnet fixture is made up of electromagnet core, coil windings, clamping armature.Under the spring force effect, be not in clamp position when electromagnet fixture, motor are not worked, under the electromagnetic force effect, be in releasing orientation during machine operation.
Integrated application magnetic levitation technology of the present invention, motor technology and control technology realize the suspension supporting of spherical spinner and drive spherical rotor rotation.During the magnetic suspension spherical machine operation, the control system of certain change in coordinate axis direction is imported equal torque current and rotary speed instruction signal simultaneously, after the decoupling zero of decoupling controller vector, be transformed into the three-phase current control signal by 2 Φ/3 Φ translation circuits, control inverter makes the direct current of rectifying pressurizer output be transformed to alternating current, the stator winding of two symmetries provides drive current on this reference axis, generation is around the electromagnetic torque of equivalent in the same way and the velocity of rotation of reference axis, to drive rotor rotation, the bias magnetic tension that while two stator winding will produce a pair of opposite sign but equal magnitude makes rotor use low suspension in the equilbrium position of this coordinate direction in the unperturbed action in rotor.When being disturbed at this change in coordinate axis direction, rotor does the time spent, be symmetrical in the radial displacement variable signal of 2 sensor of rotor to rotor, separately the signal that detects is modulated via the input treatment circuit, amplify, demodulation, export with voltage signal after the signal processing such as filtering, the two-way voltage signal compares and forms the differential displacement signal of rotor at this change in coordinate axis direction, control computing and convert differential current output to through suspension controller, incremental adjustments signal as the torque current instruction, be superimposed upon respectively on the torque current command signal of two stator winding torques of control, Differential Control two inverters are to the supply current of stator winding separately, the winding current that makes rotor shift to stator side from poised state reduces, and rotor increases away from stator side's winding current from poised state, come the balance interference effect by the relative size that changes two stator winding generation magnetic pull, make rotor come back to poised state, thereby reach the stable suspersion of rotor.
The utility model is simple and reasonable, compact, and volume is little, and is in light weight.Realize between spherical spinner and the stator not having friction, not having wearing and tearing, dynamic property is good, and response speed is fast, electric efficiency height, long service life.The requirement such as universal wheel, globe valve, ball pump that can be widely used in joint, multi-coordinate machining center, aviation aircraft, electric gyro, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medicine equipment, camera operation platform, panoramic shooting operating desk, mixer, the travel mechanism of the joint of robot and manipulator has device, the equipment of a plurality of freedoms of motion, one entad push away/the pulling force magnetic suspension spherical electromotor can replace two or many single-degree-of-freedom motors.
Description of drawings
Fig. 1 is a spherical motor shell structure schematic diagram of the present utility model;
Fig. 2 is the cross-sectional view of the utility model along A-A among Fig. 1;
Fig. 3 is the cross-sectional view of the utility model along B-B among Fig. 1;
Fig. 4 is the structural representation of salient pole stator of the present utility model;
Fig. 5 is the cross-sectional view of salient pole stator of the present utility model;
Fig. 6 is the plan structure schematic diagram of Fig. 4;
Fig. 7 is a spherical spinner surface texture schematic diagram of the present utility model;
Fig. 8 is the cross-sectional view of C-C among Fig. 7;
Fig. 9 is a work control schematic diagram of the present utility model;
Among the figure: 1 spherical spinner, 2 salient pole stators, 3 end caps, 4 transducers, 5 locating pieces, 6 bearings, 7 salient pole stators, 8 end caps, 9 housings, 10 electromagnet fixtures, 11 output pivoted arms, 12 spindle through-holes, 13,14,15 vertical plane through holes, 16 hot-wire coil windings, 17 stator salient poles, 18 rotor with salient pole, 19 rotor grooves.
Embodiment
Below in conjunction with accompanying drawing, further narrate case study on implementation of the present utility model.
Entad push away/the pulling force magnetic suspension spherical electromotor, form by electric machine casing 9, stator, spherical spinner 1, output pivoted arm 11 etc.Electric machine casing is that the prism of octagon is made by the bottom surface, main shaft Z axle with eight prisms is a center line, open two bottom surfaces of a spindle through-hole 12 through prism, in the X-Y perpendicular to main shaft Z axle, in the prism side, be evenly equipped with 8 and be symmetrical in X-axis or Y-axis and perpendicular to the vertical plane through hole 13,14,15 of spindle through-hole 12.Stator is made up of salient pole stator 2,7 etc.Arrival end at spindle through-hole 12 embeds entad pushing away/pulling force magnetic suspension spherical motor salient pole stator 7 around the rotation of Z axle, along each self-embedding one of porch in 2 vertical plane through holes 13 of X-axis around entad pushing away/pulling force magnetic suspension spherical motor salient pole stator 2 that X-axis is rotated, around entad pushing away/pulling force magnetic suspension spherical motor salient pole stator 2 that Y rotates, the salient pole stator is fixed on the salient pole stator on the electric machine casing 9 by the positioning step in end cap with holes 3,8 and the through hole along each self-embedding one of porch in 2 vertical plane through holes 14 of Y-axis; The vertical plane through hole 15 built-in discharge magnet fixtures 10 of other 4 symmetric arrangement; Fixedly be provided with the transducer 4 of detection rotor position, movement velocity in the end cap center at the salient pole stator.Stator salient poles 17 surfaces of all salient pole stators constitute a stator salient pole envelope ball (or claiming spherical envelope inner surface), place spherical spinner 1 in this envelope spherical space.Rotor 1 is fixed as one with output pivoted arm 11, and the output pivoted arm stretches to outer end (outside) by another opening part of spindle through-hole of electric machine casing 9.Being made up of stator, spherical spinner etc. that no bearing magnetic suspension entad pushes away/draws, the power globular motor, is shared rotor with spherical spinner 1, has certain air gap (gap) between the spherical envelope inner surface of stator and the spherical spinner outer surface when the two is concentric.
Stator adopts the material with good magnetic property to make, the enveloping surface that its stator salient poles 17 surfaces constitute is the spherical crown inner surface at the no end, in the groove between each stator salient poles, be wound with three-phase or heterogeneous hot-wire coil winding 16, salient pole stator 2 and winding 16 thereof entad push away/pulling force magnetic suspension spherical motor with spherical spinner 1 formation, electric current in the hot-wire coil winding 16 of Comprehensive Control motor, push away/pulling force and producing around the electromagnetic torque of salient pole stator symmetry axis along the axial magnetic of salient pole stator symmetry, realization is to the one-movement-freedom-degree restriction of spherical spinner 1 at three direction in spaces, make spherical spinner 1 stable suspersion at the center of stator salient poles envelope ball, and produce around stator 2 symmetry axis and the magnetic torque surperficial tangent with the rotor ball.Under the Comprehensive Control of controller, rotor just can rotate with two-freedom or the multiple degrees of freedom of realizing motor around specifying axle to rotate.
Spherical spinner 1 is made by the material with good magnetic property, its ball surface has vertical and continuous rotor groove 19 mutually, rotor groove is divided into the identical small elemental area rotor with salient pole 18 of geometry with whole ball surface, to form the field spider in spherical reluctance type or stepping joint.Induction type or straight flow joint are led (line) body under in the groove of field spider and are constituted rotor winding or armature winding.
This entad pushes away/and the operation principle of pulling force magnetic suspension spherical motor is as shown in Figure 9, the control system of y change in coordinate axis direction to be imported equal torque current i simultaneously
Tm *And rotational speed omega
*Command signal, two paths of signals are separately through obtaining biphase current i after the decoupling zero of decoupling controller vector
d *And i
q *, be transformed into three-phase current signal i by 2 Φ/3 Φ translation circuits
u *, i
v *, i
w *, go control inverter to make the direct current of rectifying pressurizer output be transformed to alternating current, provide drive current i to the stator winding of controlling separately
u, i
v, i
w,, rotate around the y reference axis thereby drive spherical spinner 1 to produce electromagnetic torque of equivalent in the same way and velocity of rotation around the y reference axis.The bias magnetic tension that while two stator hot-wire coil windings 16 will produce opposite sign but equal magnitude on a pair of y direction of principal axis makes spherical spinner 1 use low suspension in the equilbrium position of y coordinate direction in the unperturbed action in spherical spinner 1.When being disturbed at the y change in coordinate axis direction, spherical spinner 1 does the time spent, spherical spinner 1 will be shifted to a salient pole stator, leave another salient pole stator, two transducers of spherical spinner 1 both sides detect the radial displacement variable signal of spherical spinner 1 respectively, separately with the signal that detects via the input treatment circuit modulate, after the signal processing such as amplification, demodulation, filtering respectively with voltage signal u
1, u
2Output, two-way voltage signal relatively obtain the differential displacement signal delta u=u of y change in coordinate axis direction through comparator
2-u
1, differential displacement signal delta u is through suspension controller control computing and convert differential current signal Δ i output to, and the torque current command signal of this current signal Δ i and two stator winding torques of control is added and subtracted mutually respectively and is become i
Tm *+ Δ i, i
Tm *-Δ i, Differential Control two inverters are to the supply current i of stator winding separately
u, i
v, i
wThe spherical spinner winding current near apart from stator reduced, and the spherical stator of distance winding current far away increases, and comes the balance interference effect by the relative size that changes two stator winding generation magnetic pull, make spherical spinner come back to poised state, thereby reach the stable suspersion of rotor.
Claims (5)
1, entad pushes away/the pulling force magnetic suspension spherical electromotor, comprise the spherical motor that spherical motor housing, stator, spherical spinner, output pivoted arm constitute and detect control system, it is characterized in that the spherical motor housing made by prism or cylinder, with the column axis is center line, open two bottom surfaces of a spindle through-hole through cylinder, at column side face, uniform at least 4 vertical plane through holes perpendicular to spindle through-hole, described stator is provided with a plurality of salient pole stators, and salient pole stator or electromagnet fixture are installed in the vertical plane through hole; End at spindle through-hole embeds the salient pole stator, by end cap with holes and the positioning step in the spindle through-hole salient pole stator is fixed on the housing; At least 2 orthogonal vertical plane through hole porch embed the salient pole stator, and by the positioning step in end cap with holes and the vertical plane through hole salient pole stator are fixed on the engine housing; The salient pole end face of all salient pole stators constitutes a stator salient pole envelope ball, puts spherical spinner in this envelope spherical space, and spherical spinner is fixed into one with the output pivoted arm, and the output pivoted arm stretches to the outside by the other end of spindle through-hole; When the two is concentric, there is certain air gap between the spherical envelope inner surface of stator salient poles envelope ball and the spherical spinner outer surface; Detecting control system is made up of the independent control subsystem of x, y, three change in coordinate axis direction of z, each subsystem is provided with that the control spherical spinner suspends and suspension controller, decoupling controller, 2 Φ/3 Φ translation circuits, regulator rectifier circuit, inverter, transducer, the input treatment circuit of rotary state, and transducer is arranged in the hole on the end cap.
2, according to claim 1 entad pushing away/the pulling force magnetic suspension spherical electromotor, it is characterized in that described motor field frame is around at least 3 salient pole stators of spherical spinner layout, wherein, rotate around column axis at least 1, wind each at least 1 that rotates perpendicular to the two-dimensional coordinate axle of column axis, under suspension controller control, realize the spherical spinner stable suspersion at the center of stator salient poles envelope ball, and drive its two-freedom or multiple degrees of freedom rotation.
3, according to claim 1 entad pushing away/the pulling force magnetic suspension spherical electromotor, it is characterized in that described stator made by the material with good magnetic property, the envelope sphere that its salient pole stator salient poles surface constitutes is the spherical crown inner surface at the no end, in the groove between each salient pole, be wound with three-phase or heterogeneous hot-wire coil winding.
4, according to claim 1 entad pushing away/the pulling force magnetic suspension spherical electromotor, it is characterized in that described spherical spinner made by the material with good magnetic property, its ball surface has vertical and continuous groove mutually, groove is divided into the rotor with salient pole of the identical small elemental area of geometry with whole ball surface, and lower conductor constitutes rotor winding or armature winding in the groove.
5, according to claim 1 entad pushing away/the pulling force magnetic suspension spherical electromotor is characterized in that described electromagnet fixture is made up of electromagnet core, coil windings, clamping armature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200390327U CN201409103Y (en) | 2009-05-05 | 2009-05-05 | Centripetal pushing/pulling force magnetic suspension spherical motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200390327U CN201409103Y (en) | 2009-05-05 | 2009-05-05 | Centripetal pushing/pulling force magnetic suspension spherical motor |
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| Publication Number | Publication Date |
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| CN201409103Y true CN201409103Y (en) | 2010-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009200390327U Expired - Fee Related CN201409103Y (en) | 2009-05-05 | 2009-05-05 | Centripetal pushing/pulling force magnetic suspension spherical motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105577035A (en) * | 2016-02-18 | 2016-05-11 | 三峡大学 | Suspension control method of space small magnet |
| CN109955237A (en) * | 2019-04-30 | 2019-07-02 | 深圳市爱因派科技有限公司 | Two degrees of freedom supersonic motor steering engine and robot |
-
2009
- 2009-05-05 CN CN2009200390327U patent/CN201409103Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105577035A (en) * | 2016-02-18 | 2016-05-11 | 三峡大学 | Suspension control method of space small magnet |
| CN105577035B (en) * | 2016-02-18 | 2017-07-14 | 三峡大学 | space small magnet suspension control method |
| CN109955237A (en) * | 2019-04-30 | 2019-07-02 | 深圳市爱因派科技有限公司 | Two degrees of freedom supersonic motor steering engine and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100217 Termination date: 20120505 |