Three-freedom Halback array permanent magnetism sphericity synchronous motor

Abstract

The invention relates to a three-freedom degree Halbach array permanent magnetism spherical synchronous motor, belonging to spherical electric machine manufacturing technical field, which comprises a base, a support bearing positioned on the base, a spherical rotor body, an outside stator, an output shaft, the spherical rotor body comprises a hollow spherical rotor yoke made by non-guide magnetism materials and a Halbach array permanent magnetism body, the output shaft is through the upper of the hollow spherical rotor yoke and is fixingly connected with the hollow spherical rotor yoke, column-shaped slots are provided around a cycle of the hollow spherical rotor yoke equator, the Halbach array permanent magnetism body are fixed evenly on one cycle of the rotor yoke equator along the column-shaped slots, the contact surface of the rotor yoke lower and the support bearing is ring-shaped arc surface; the outer stator comprises a stator casing and multi-row coils, an adjustable fixing bearing is provided on the lower side of the stator casing cover. The spherical synchronous motor of the invention can realize three-freedom degree movement, has simple mechanical structure and improved dynamic and static performance of the drive system.

Description

technical field [0001] The invention belongs to the technical field of manufacturing spherical motors. It relates to a permanent magnet spherical synchronous motor capable of realizing three-degree-of-freedom motion. Background technique [0002] Traditionally, to achieve multi-degree-of-freedom motion, coordinated control of multiple single-degree-of-freedom motors is required, which not only results in complex structure and large size of the mechanical device, but also slow response, low efficiency and insufficient precision of the system. Compared with the traditional multi-degree-of-freedom transmission mechanism, the spherical motor has the characteristics of simple structure, low moment of inertia, high precision, and good dynamic performance. It can be widely used in aerospace, robots, mechanical arms, spherical valves, and panoramic camera heads. field. [0003] With the development of motor design, control technology and power electronics technology, spherical mot...

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Problems solved by technology

However, this paper does not involve the specific motor structure design, and the content of the structure is only described from the principle, which lacks the necessary technical features and does not have the possibility of implementation

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