CN204772523U - Three degree of freedom rotating electrical machiness - Google Patents
Three degree of freedom rotating electrical machiness Download PDFInfo
- Publication number
- CN204772523U CN204772523U CN201520596231.3U CN201520596231U CN204772523U CN 204772523 U CN204772523 U CN 204772523U CN 201520596231 U CN201520596231 U CN 201520596231U CN 204772523 U CN204772523 U CN 204772523U
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- permanent magnet
- rotary body
- coil groups
- degree
- motor
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Abstract
The utility model relates to a three degree of freedom rotating electrical machiness. The structure comprises a motor support, the rotator, the coil assembly, the motor output shaft, the permanent magnet, the permanent magnet supports the cover, the motor aircraft bonnet, motor frame and motor aircraft bonnet all are equipped with the cavity cavity, the motor output shaft is fixed on the rotator, the rotator facial make -up is equipped with the coil assembly, the permanent magnet is installed to support at the permanent magnet and is sheathe in, the surface and the internal surface that the permanent magnet supported the cover of rotator cooperate, the rotator can support the cavity cavity internal rotation that the cover was established at the permanent magnet, the permanent magnet supports the cover and arranges in the cavity cavity that the motor frame established, the permanent magnet supports the surface of cover and the interior surface contact of motor frame, the motor frame is connected with the motor aircraft bonnet, the one end external power supply of wire just, the negative electrode, the coil assembly that the other end and the rotator of wire were established links to each other. The utility model discloses compact structure, inertia is little, the flexibility ratio is big for robot control can reduce the manufacturing cost of robot, simplifies the overall structure of robot, and alleviates robot arm's load.
Description
Technical field
The utility model 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 purpose of this utility model is consider the problems referred to above and provide the Three Degree Of Freedom electric rotating machine that a kind of compact conformation, inertia are little, flexibility ratio is large.The utility model 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.
The technical solution of the utility model is: Three Degree Of Freedom electric rotating machine of the present utility model, 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 utility model, 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 utility model 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 utility model can realize three-shaft linkage rotation, and hinge structure controls simple, and structure simplifies, and reduces manufacturing cost;
3) the utility model compact conformation, rotary inertia is little, flexibility ratio is large, control range is wide;
4) the utility model is used for robot, reduces the manufacturing cost of robot entirety.
The Three Degree Of Freedom electric rotating machine that the utility model 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 utility model;
Fig. 2 is stereogram of the present utility model;
Fig. 3 is the structural representation of rotary body in the utility model Three Degree Of Freedom electric rotating machine;
Fig. 4 is the fundamental diagram of the utility model coil groups.
Detailed description of the invention
Embodiment:
Structural representation of the present utility model is as Fig. 1, 2, 3, shown in 4, Three Degree Of Freedom electric rotating machine of the present utility model, 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 utility model 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 utility model 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 a kind of embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model scope.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, protection domain of the present utility model 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 |
|---|---|---|---|
| CN201520596231.3U CN204772523U (en) | 2015-08-10 | 2015-08-10 | Three degree of freedom rotating electrical machiness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520596231.3U CN204772523U (en) | 2015-08-10 | 2015-08-10 | Three degree of freedom rotating electrical machiness |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204772523U true CN204772523U (en) | 2015-11-18 |
Family
ID=54512648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520596231.3U Withdrawn - After Issue CN204772523U (en) | 2015-08-10 | 2015-08-10 | Three degree of freedom rotating electrical machiness |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204772523U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108730A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Three-degree-of-freedom rotating motor |
| CN107612263A (en) * | 2016-07-12 | 2018-01-19 | 霍尼韦尔国际公司 | The rotation of multiple degrees of freedom electromagnetic machine and inclination control |
-
2015
- 2015-08-10 CN CN201520596231.3U patent/CN204772523U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108730A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Three-degree-of-freedom rotating motor |
| CN105108730B (en) * | 2015-08-10 | 2017-04-12 | 广东工业大学 | Three-degree-of-freedom rotating motor |
| CN107612263A (en) * | 2016-07-12 | 2018-01-19 | 霍尼韦尔国际公司 | The rotation of multiple degrees of freedom electromagnetic machine and inclination control |
| CN107612263B (en) * | 2016-07-12 | 2021-04-27 | 霍尼韦尔国际公司 | Rotation and tilt control for multi-degree-of-freedom electromagnetic machines |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151118 Effective date of abandoning: 20170412 |
|
| AV01 | Patent right actively abandoned |