CN207766121U - The spherical induction machine of multiple degrees of freedom driving - Google Patents
The spherical induction machine of multiple degrees of freedom driving Download PDFInfo
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- CN207766121U CN207766121U CN201820112420.2U CN201820112420U CN207766121U CN 207766121 U CN207766121 U CN 207766121U CN 201820112420 U CN201820112420 U CN 201820112420U CN 207766121 U CN207766121 U CN 207766121U
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Abstract
The utility model discloses a kind of multiple degrees of freedoms to drive spherical induction machine comprising the annular fixed frame in spherical spinner upper and lower ends, the stator fixing bracket that is arranged between the upper and lower two annular fixed frames and the driving unit being fixed on the stator fixing bracket is arranged；The support bracket fastened both ends of stator are slidably connected with the annular fixed frame respectively, make the support bracket fastened both ends of stator can be along the annular fixed frame sliding to drive stator to deflect.The motor can realize multiple degrees of freedom rotary motion in space, can be through the direct output torque of spherical spinner upper and lower surface, while controllable level of torque；Also, its is simple in structure, and output performance is good, kelvin effect is small；In addition, it is widely used, spherical camera, hybrid vehicle compound drive system etc. can be applied to.
Description
Technical field
The utility model is related to a kind of multiple degrees of freedoms to drive spherical induction machine.
Background technology
With the rapid development of the new and high technologies such as robot technology, sensor detecting, automatic control technology, motor
Greatly progress and development are obtained in continuous demand.The motor of comparative maturity is connected with executive device all uses machine
Tool connects, such as the connection of flanged joint, shaft coupling, key connection etc., and this motor only has single degree of freedom, can only externally export
Torque is needing two-freedom even multivariant occasion, generally requires multiple motors and provides power supports, and this mode
Can cause systems bulky, coordination are low, manufacture is difficult to install, efficiency is low, response speed is slow, bad dynamic performance, inspection
Look into the shortcomings of maintenance is inconvenient.Meanwhile traditional 360 ° of all standings of rotary electric machine, in rotor, rotor can not be exported directly,
Generally by axis transmission torque, output multivariant to torque plays certain limitation, such as driving part
(such as vehicle wheel hub motor) can only provide the rotation of wheel single-degree-of-freedom, and steering will also be realized by steering mechanism, increase machine
The complexity of structure.
In addition, in field of detecting, camera is an extremely basic detecting element, especially prominent in deep-sea detecting,
Camera needs precisely, timely to shoot the biology in ocean, and state-of-the-art 3D cameras technology generally requires difference now
The camera lens of the shooting at visual angle, single plane cannot meet the requirement of its shooting, and integrated multiple cameras is needed to be tracked, and tie
Structure is complicated, and control is difficult.
Utility model content
The purpose of this utility model is to provide a kind of spherical induction machine of multiple degrees of freedom driving, to solve existing electric rotating machine
The problem of rotor can not be exported directly, and output multivariant to torque plays certain limitation.
In order to solve the above technical problems, the utility model provides a kind of spherical induction machine of multiple degrees of freedom driving, including set
It sets solid in the annular fixed frame of spherical spinner upper and lower ends, the stator that is arranged between the upper and lower two annular fixed frames
Fixed rack and the driving unit being fixed on the stator fixing bracket；The support bracket fastened both ends of stator respectively with it is described
Annular fixed frame is slidably connected, and makes the support bracket fastened both ends of stator can be along the annular fixed frame sliding to drive stator
Deflection.
Further, the annular fixed frame includes the connected U section in interval and segmental arc, and the U section and arc
Shape section is recessed to two opposite directions respectively.
Further, the segmental arc is hollow-core construction, is internally provided with and the matched arc hydraulic piston of its radian
Cylinder rod, the support bracket fastened both ends of stator are fixed on the two opposing upper and lower arc hydraulic pressure by a fixing piece respectively and live
On plug cylinder bar.
Further, the U section is hollow-core construction, and the first hydraulic oil inlet and outlet connectors are respectively equipped in the U section
With the second hydraulic oil inlet and outlet connectors.
Further, the side that the annular fixed frame is contacted with the spherical spinner is equipped with several universal buphthalmos balls
Bearing makes to form air gap between spherical spinner and stator.
Further, reinforcing rib is equipped between the open end of the U section.
Further, the support bracket fastened quantity of the stator is three, and three stator fixing brackets are around described
Spherical spinner is circularly and evenly distributed.
Further, each annular fixed frame is separately installed with six universal buphthalmos ball bearings, six described ten thousand
It is separated by 60 ° two-by-two to buphthalmos ball bearing to be circumferentially distributed.
Further, the driving unit includes the stator being fixed on the stator fixing bracket and is arranged described
Several coils on stator.
Further, which further includes hydraulic control unit, the hydraulic control unit include respectively with first hydraulic oil into
Outgoing interface and the second hydraulic oil inlet and outlet connectors connect three position four-way electromagnetic valve, the T mouths of the three position four-way electromagnetic valve and the first oil
Case is connected to, and the P mouths of the three position four-way electromagnetic valve are connected to the second fuel tank, and the P mouths of the three position four-way electromagnetic valve with it is described
Hydraulic pump is equipped between second fuel tank；Overflow valve is equipped between the hydraulic pump and the three position four-way electromagnetic valve.
The beneficial effects of the utility model are：The motor can realize multiple degrees of freedom rotary motion in space, can turn through spherical shape
The sub- direct output torque of upper and lower surface, while controllable level of torque；Also, its is simple in structure, and output performance is good, collection skin is imitated
It answers small；It is widely used, and can be applied to spherical camera, hybrid vehicle compound drive system etc..
Description of the drawings
Attached drawing described herein is used for providing further understanding of the present application, constitutes part of this application, at this
Same or analogous part, the illustrative embodiments and their description of the application are indicated using identical reference label in a little attached drawings
For explaining the application, the improper restriction to the application is not constituted.In the accompanying drawings：
Fig. 1 is that the stator of the utility model one embodiment is in the overall structure diagram of meridian position；
Fig. 2 is in partial sectional view when meridian position for the stator of the utility model one embodiment；
Fig. 3 is the overall structure diagram when stator of the utility model one embodiment deflects 15 ° of meridian；
Fig. 4 is the deformable stator fixed mechanism structural schematic diagram of hydraulic control of the utility model one embodiment；
Fig. 5 is the partial sectional view of the deformable stator fixed mechanism of hydraulic control of the utility model one embodiment；
Fig. 6 is the hydraulic control unit schematic diagram of the utility model one embodiment.
Wherein：1, spherical spinner；11, layers of copper；12, iron layer；2, annular fixed frame；21, U section；A, the first hydraulic oil
Inlet and outlet connectors；B, the second hydraulic oil inlet and outlet connectors；22, segmental arc；3, stator fixing bracket；4, stator；5, coil；6, arc liquid
Press piston cylinder rod；7, universal buphthalmos ball bearing；8, bolt；9, nut.
Specific implementation mode
The spherical induction machine of multiple degrees of freedom driving as shown in FIG. 1 to FIG. 3, including be arranged in 1 upper and lower ends of spherical spinner
Annular fixed frame 2, the stator fixing bracket 3 being arranged between the upper and lower two annular fixed frames 2, be fixed on it is described fixed
Driving unit on sub- fixing bracket 3.The both ends of the stator fixing bracket 3 connect with the annular sliding of fixed frame 2 respectively
It connects, makes the both ends of stator fixing bracket 3 can be along the annular sliding of fixed frame 2 to drive stator 4 to deflect.The driving is single
Member includes the stator 4 being fixed on the stator fixing bracket 3 and several coils 5 being arranged on the stator 4.Such as Fig. 2
Shown, the rotor is copper-iron two-level rotor, and outer layer is layers of copper 11 (being welded by two copper hemispherical Shells), and internal layer is iron layer
12 (being welded by two iron hemispherical Shells), are bonded for inside and outside two layers by adhesive.
The annular fixed frame 2 includes the connected U section 21 in interval and segmental arc 22, and the U section 21 and arc
Section 22 is recessed to two opposite directions respectively, can enhance stability, is arranged with making rotor stability fixed by two annulars
In the framework that frame 2 forms.Also, it is equipped with reinforcing rib between the open end of the U section 21, annular fixed frame can be enhanced
2 stability.
The segmental arc 22 be hollow-core construction, and be internally provided with the matched arc hydraulic piston cylinder rod 6 of its radian,
The both ends of the stator fixing bracket 3 are fixed on the two opposing upper and lower arc hydraulic piston cylinders by a fixing piece respectively
On bar 6.Annular fixed frame 2, stator fixing bracket 3 constitute the executive component of hydraulic control unit with arc hydraulic piston cylinder rod 6,
It acts as the deviation angles by changing stator fixing bracket 3, to change position of the stator 4 relative to spherical spinner 1, to
Change the number of degrees of freedom of driving, deflection angle is -15 °~15 °.
The U section 21 is hollow-core construction, and the first hydraulic oil inlet and outlet connectors A and the is respectively equipped in the U section 21
Two hydraulic oil inlet and outlet connectors B.As shown in fig. 6, described interface A, B indicate the first hydraulic oil inlet and outlet connectors A and the second hydraulic pressure respectively
Oily inlet and outlet connectors B, connect with a three position four-way electromagnetic valve respectively, and T mouths and the first fuel tank of the three position four-way electromagnetic valve connect
Logical, the P mouths of the solenoid valve are connected to d with the second fuel tank, and hydraulic pressure is equipped between the P mouths of the solenoid valve and the second fuel tank d
A is pumped, the T mouths of the solenoid valve are connected to another fuel tank；Overflow is equipped between the hydraulic pump a and the stator fixing bracket c
Valve b.
When the left side electromagnet of three position four-way electromagnetic valve is powered, spool moves to left position to the left so that first
Hydraulic oil inlet and outlet connectors A and input hydraulic pressure oil, the second hydraulic oil inlet and outlet connectors B output hydraulic pressure oil, 2 arc of lower end annular fixed frame
The arc hydraulic piston cylinder rod 6 of shape section 22 makes stator 4 deflect certain angle clockwise along horizontal axis (small along deflection clockwise
In 15 °)；When the right side electromagnet of three position four-way electromagnetic valve is powered, spool moves to right end position to the right so that the second liquid
Pressure oil inlet and outlet connectors B input hydraulic pressure oil, the first hydraulic oil inlet and outlet connectors A output hydraulic pressure oil, 2 segmental arc of lower end annular fixed frame
22 arc hydraulic piston cylinder rod 6 makes stator 4 deflect certain angle counterclockwise along horizontal axis and (is less than along deflection counterclockwise
15°)；When valve core movement to center, driving element stops, the first hydraulic oil inlet and outlet connectors A, the second hydraulic oil inlet and outlet connectors
B does not pass in and out hydraulic oil, and stator 4 navigates to corresponding position.
The side that the annular fixed frame 2 is contacted with the spherical spinner 1 is equipped with several universal buphthalmos ball bearings 7,
Make to form air gap between spherical spinner 1 and stator 4.Universal caster buphthalmos bearing is used to support 1 layers of copper 11 of spherical spinner and ball
1 iron layer 12 of shape rotor, and air gap is set between 1 layers of copper 11 of spherical spinner and stator 4, to prevent spherical spinner 1 because of bias
The Maxwell force of generation plays the role of support to the heart.Also, each annular fixed frame 2 is separately installed with six
Universal buphthalmos ball bearing 7, six universal buphthalmos ball bearings 7 are separated by 60 ° and are circumferentially distributed two-by-two.Universal buphthalmos bearing 7
Quantity, arrangement mode and breath size can be changed by concrete condition.
The quantity of the stator fixing bracket 3 is three, and three stator fixing brackets 3 are around the spherical spinner
1 is circularly and evenly distributed.The stator 4, to be separated by 120 ° of circle distributions in the equatorial positions of spherical spinner 1, three stators 4
Individually power supply.Its structure is to imitate arc-shaped structure of the linear motion actuator, its arc surface is transformed to spherical surface, it is made to be converted by travelling-magnetic-field
For the spherical magnetic field of rotation.
The hydraulic control of the present invention can be changed the spherical induction machine of multiple degrees of freedom driving, when the coil 5 in any stator 4 is passed through three-phase
When current work, stator 4 will generate a rotating excitation field, this rotating excitation field by air gap act on spherical spinner layers of copper 11 with
In spherical spinner iron layer 12, closed magnetic field is formed with spherical spinner iron layer 12, while induction is generated in spherical spinner layers of copper 112
Electromotive force and induced current cause to be formed on its surface tangent Lorentz force, to generate the torque of rotation.When rotor because
It, can be by being passed through respective three-phase electricity to other two stator 4 when job requirement needs to change its direction of rotation or increase torque
Stream generates above-mentioned torque, and changes its former direction of rotation by the principle that torque synthesizes or improve the torque on certain direction, with
Reach job requirement.
The range that the present invention applies is wide, and the structure of automated variable degree of freedom driving can adapt to the application of a variety of occasions,
Such as：When its driving part (car wheel electromotor) as object plane motion, its adjustable stator 4 to a certain position,
Realize the driving (providing the torque in any level direction, vertical direction is to be freely rotated, and does not provide driving) of two degrees of freedom；When it
When as omni-directional drive (joint of robot, spherical camera), its stator 4 is adjusted to a certain position, realizes Three Degree Of Freedom
Driving.And it drives the change of number of degrees of freedom, that can realize automatic change 4 inflection point of stator, stator 4 by hydraulic control unit
Accurate positioning, process are simple, eliminate the complicated step being positioned manually.
Also, the present invention proposes new concept for the camera technology of deep-sea detecting, exists for 3D photography technologies
Shooting instrument is more, the problems such as cannot achieve all-directional rotation, being influenced by deep sea hydraulic, provide a kind of spherical camera,
It can carry out omnidirectional shooting, while its structure can uniformly distribute hydraulic pressure, can realize b.s.l. more depth
Detection.
In addition, improve significantly for hybrid vehicle compound drive system, to orthodox car wheel hub motor and its
It is complicated existing for mating steering mechanism, be not easy to integrated or integration degree is low, cannot meet lightweight, efficiently,
Reliably, the problems such as compact, applicable various and batch production, provides a kind of a kind of driving use effectively to solve the above problems
Spherical wheel hub motor enormously simplifies the complexity of structure, improves integrated, while effective solution orthodox car can not
The problem of comprehensive steering.Its is simple in structure, the problem of also optimizing heat dissipation to a certain extent.
Finally illustrate, above example is merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, it will be understood by those of ordinary skill in the art that, it can be to this
The technical solution of utility model is modified or replaced equivalently, without departing from the objective and model of technical solutions of the utility model
It encloses, should all cover in the right of the utility model.
Claims (10)
1. a kind of spherical induction machine of multiple degrees of freedom driving, which is characterized in that including the ring in spherical spinner upper and lower ends is arranged
Shape fixed frame, the stator fixing bracket being arranged between the upper and lower two annular fixed frames and it is fixed on the stator
Driving unit on fixing bracket；The support bracket fastened both ends of stator are slidably connected with the annular fixed frame respectively, make
It the support bracket fastened both ends of stator can be along the annular fixed frame sliding to drive stator to deflect.
2. the spherical induction machine of multiple degrees of freedom driving according to claim 1, which is characterized in that the annular fixed frame
Including being spaced connected U section and segmental arc, and the U section and segmental arc are recessed to two opposite directions respectively.
3. the spherical induction machine of multiple degrees of freedom driving according to claim 2, which is characterized in that the segmental arc is hollow
Structure is internally provided with and leads to respectively with the matched arc hydraulic piston cylinder rod of its radian, the support bracket fastened both ends of stator
A fixing piece is crossed to be fixed in the two opposing upper and lower arc hydraulic piston cylinder rods.
4. the spherical induction machine of multiple degrees of freedom driving according to claim 3, which is characterized in that the U section is hollow
Structure, and the first hydraulic oil inlet and outlet connectors and the second hydraulic oil inlet and outlet connectors are respectively equipped in the U section.
5. the spherical induction machine of multiple degrees of freedom driving according to claim 1, which is characterized in that the annular fixed frame
The side contacted with the spherical spinner is equipped with several universal buphthalmos ball bearings, makes to form gas between spherical spinner and stator
Gap.
6. the spherical induction machine of multiple degrees of freedom driving according to claim 2, which is characterized in that the opening of the U section
Reinforcing rib is equipped between end.
7. the spherical induction machine of multiple degrees of freedom driving according to claim 1, which is characterized in that the stator fixing bracket
Quantity be three, and three stator fixing brackets are circularly and evenly distributed around the spherical spinner.
8. the spherical induction machine of multiple degrees of freedom driving according to claim 5, which is characterized in that each annular is fixed
Frame is separately installed with six universal buphthalmos ball bearings, and six universal buphthalmos ball bearings are separated by 60 ° and are circumferentially distributed two-by-two.
9. the spherical induction machine of multiple degrees of freedom according to claim 1 driving, which is characterized in that the driving unit includes
The stator being fixed on the stator fixing bracket and several coils being arranged on the stator.
10. the spherical induction machine of multiple degrees of freedom driving according to claim 4, which is characterized in that the motor further includes liquid
Unit is controlled, the hydraulic control unit includes connecting three with the first hydraulic oil inlet and outlet connectors and the second hydraulic oil inlet and outlet connectors respectively
The T mouths of position four-way solenoid valve, the three position four-way electromagnetic valve are connected to the first fuel tank, the P mouths of the three position four-way electromagnetic valve with
Second fuel tank is connected to, and hydraulic pump is equipped between the P mouths and second fuel tank of the three position four-way electromagnetic valve；The hydraulic pump
Overflow valve is equipped between the three position four-way electromagnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820112420.2U CN207766121U (en) | 2018-01-23 | 2018-01-23 | The spherical induction machine of multiple degrees of freedom driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820112420.2U CN207766121U (en) | 2018-01-23 | 2018-01-23 | The spherical induction machine of multiple degrees of freedom driving |
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| Publication Number | Publication Date |
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| CN207766121U true CN207766121U (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820112420.2U Active CN207766121U (en) | 2018-01-23 | 2018-01-23 | The spherical induction machine of multiple degrees of freedom driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108039806A (en) * | 2018-01-23 | 2018-05-15 | 重庆交通大学 | The variable multiple degrees of freedom of hydraulic control drives spherical induction machine |
| CN112701987A (en) * | 2020-12-20 | 2021-04-23 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
-
2018
- 2018-01-23 CN CN201820112420.2U patent/CN207766121U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108039806A (en) * | 2018-01-23 | 2018-05-15 | 重庆交通大学 | The variable multiple degrees of freedom of hydraulic control drives spherical induction machine |
| CN108039806B (en) * | 2018-01-23 | 2024-07-02 | 重庆交通大学 | Hydraulic control variable multi-degree-of-freedom driving spherical induction motor |
| CN112701987A (en) * | 2020-12-20 | 2021-04-23 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
| CN112701987B (en) * | 2020-12-20 | 2022-11-18 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
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