A three-degree-of-freedom motion motor with liquid-mass suspension bionic electromagnetic drive

Abstract

The invention provides a three-degree-of-freedom motion motor driven by liquid mass suspension bionic electromagnetic, and relates to the technical field of three-degree-of-freedom motion motors. The motor adopts a built-in or output shaft structure; the rotor is a hollow spherical shell, and the hollow part can place a wireless transmission device and a visual image acquisition device; the inner surface of the rotor shell is provided with a permanent magnet in a vertical direction; the stator has a shape corresponding to the rotor shape. The adapted inner cavity is provided with a number of stator coils on the surface of the inner cavity, and the inner cavity of the stator is provided with stator permanent magnets in a vertical direction that are compatible with the permanent magnets; the rotor is supported in a liquid suspension manner. The invention adjusts the deflection of the motor rotor by controlling the direction and amplitude of different coils, which can realize the suspension operation, and has the advantages of simple structure, small volume, small friction, fast response, strong dynamics, and can approach the real situation to a large extent. The advantages of eye and easy miniaturization and integration; with the help of multi-dimensional motion actuator and control technology, practical visual bionics can be realized.

Description

technical field [0001] The invention relates to the technical field of three-degree-of-freedom motion motors. Background technique [0002] With the development of modern industrial science and technology, multi-degree-of-freedom integrated drive technology has received more and more attention. The multi-degree-of-freedom motor has become an important research direction, and many new multi-degree-of-freedom motors have been continuously developed and applied. The emergence of multi-degree-of-freedom motors solves the shortcomings of traditionally using multiple one-dimensional driving elements to realize multi-degree-of-freedom motion, such as system complexity, low efficiency, insufficient precision, high cost, and poor dynamic performance. Multi-degree-of-freedom motors have broad application prospects in instruments and equipment that require multiple degrees of freedom of motion, such as human bionics, robots, aerospace vehicles, manipulators, radars, and panoramic came...

AI Technical Summary

Problems solved by technology

Applying the current multi-degree-of-freedom motor to the visual bionic system has the following disadvantages: the traditional multi-degree-of-freedom motor is large and not easy to miniaturize; the support design and wear of the mechanical bearing of the traditional multi-degree-of-freedom motor are in special applications main problem

Mechanical friction increases rotor resistance and causes components to heat up, resulting in poor dynamic performance of the motor, reduced efficiency, and affects its service life; traditional multi-degree-of-freedom motors have certain difficulties in operating in suspension control mode, and there are problems such as complex motor structure and easy loss of control of the magnetic field problem, it is not easy to improve the control accuracy

[0004] In the study of permanent magnet spherical stepping motor and permanent magnet spherical synchronous motor, the design and discussion of magnetic levitation control were carried out, and it was found that these two types of motors had certain difficulties in the operation mode of electromagnetic levitation, while the multi-degree-of-freedom induction The motor also has the problem that the structure is quite complex and the magnetic field is easy to get out of control.

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