Ball type motor with three-dimensional topology magnetic pole distribution structure

Abstract

The invention discloses a ball type motor with a three-dimensional topology magnetic pole distribution structure The ball type motor comprises an outer rotor (1), an outer stator (2), a ball bearing (3), a base (4), an inner rotor (5) and an inner stator (6), wherein the rotor and the stator are sleeved with each other; the ball bearing (3) is installed in the inner stator (6); the inner rotor (5) is sleeved on the external part of the inner stator (6); the outer stator (2) is sleeved on the external part of the inner rotor (5); and the outer rotor (1) is sleeved on the external part of the outer stator (2). The electromagnetic force driving is adopted for the ball type motor disclosed by the invention, besides magnetic poles and coil magnetic poles are distributed along a spherical surface, and also can be distributed along the radial direction, thus the magnetic field intensity of a coil magnetic pole region is increased greatly, simultaneously the interaction force between the magnetic poles is improved, not only can the continuous rotation space with spatial three degrees of freedom of the ball motor rotor can be realized, but also the output torque, especially the tilting moment, of the ball motor is improved effectively.

Description

technical field [0001] The invention relates to a spherical motor, more particularly, to a spherical motor with a three-dimensional topology magnetic pole distribution structure. In addition to being distributed along the spherical surface, the magnetic poles in the spherical motor can also be distributed in multiple layers in the radial direction, so that the output torque of the spherical motor can be increased, especially the performance of the tilting torque is significantly improved. Background technique [0002] Bionics is one of the important foundations for the development of robotics. The human arm has seven degrees of freedom, that is, the shoulder and wrist are three-degree-of-freedom ball joints, and the elbow is a single-degree-of-freedom rotary joint. The human arm not only has a large working space, a good carrying capacity, but also outstanding flexibility. The ball motor can realize the continuous rotation of three degrees of freedom in space, so the devel...

AI Technical Summary

Problems solved by technology

[0004] First, the inevitable elastic deformation of the transmission mechanism and the motion dead zone are the reasons for the reduction of motion accuracy;

[0005] Second, the large mass and inertia of the combined motor and accessories lead to high energy loss, and poor motion response sensitivity and rapidity limit the application range;

[0006] Third, it is easy to have kinematic singularity during the joint movement

However, in view of the problem that the tilting moment is too small in the current domestic and foreign research on spherical motors, the patent application of the present invention proposes a spherical motor with a three-dimensional topological magnetic pole distribution structure, that is: in addition to the distribution of magnetic poles along the spherical surface, the magnetic poles can also be Distributed in multiple layers in the radial direction, which can increase the output torque of the ball motor, especially the tilting moment

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