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Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor

A permanent magnet synchronous, spherical motor technology, used in synchronous motors with rotating armatures and stationary magnets, electrical components, holding devices with magnetic attraction or thrust, etc. Complex structure and other problems, to achieve the effect of compact structure and high-precision control

Active Publication Date: 2015-08-12
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a six-degree-of-freedom permanent magnet synchronous magnetic levitation spherical motor to solve the problems of traditional spherical motors with less degrees of freedom, complex support structures and low control precision

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  • Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor
  • Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor
  • Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor

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Embodiment Construction

[0016] A six-degree-of-freedom permanent magnet synchronous magnetic levitation spherical motor, including: a spherical shell-shaped stator 1 and a spherical mover 2; wherein the spherical shell-shaped stator 1 includes: a stator shell 3 and a magnetic steel 4, and the spherical mover 2 includes: a mover ball Core 5, horizontal coil 6 and vertical coil 7.

[0017] The stator shell 3 is a hollow spherical shell with an inner diameter of 100 mm and an outer diameter of 118 mm, and the north and south poles of the stator shell 3 have a hollowed-out cross section. The magnetic steel 4 is a cube with a side length of 18 mm. Magnets, the magnetized surface of the magnetic steel 4 is perpendicular to the radius of the stator shell 3, and is distributed orthogonally along the latitude and longitude of the stator shell 3, forming a spherical two-dimensional NS type magnetic steel array with a pole pitch of 19.5mm, embedded in the stator shell 3.

[0018] The mover core 5 is spherical, ...

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Abstract

The present invention discloses a six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor. The six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor comprises a spherical shell-shaped stator (1) and a spherical rotor (2), the spherical shell-shaped stator (1) and the spherical rotor (2) are not contacted, and the spherical rotor (2) suspends in the middle of the spherical shell-shaped stator (1) by depending on an electromagnetic force. By controlling the electromagnetic force to adjust the relative positions of the centers of the spherical shell-shaped stator (1) and the spherical rotor (2), and currents are accessed in a horizontal coil and a vertical coil in the spherical rotor (2) according to the dq0 decomposition, so that the spherical rotor (2) suspends in the spherical shell-shaped stator (1) by being applied with a centripetal buoyancy, and realizes the multi-degree of freedom rotation by being applied with the torque effect along any axis relative to the spherical shell-shaped stator (1). The six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor of the present invention is compact in structure, has zero friction, can be used as a multi-degree of freedom joint of a robot, and provides the high-speed and high-precision control.

Description

technical field [0001] The invention relates to a spherical motor, in particular to a six-degree-of-freedom permanent magnet synchronous magnetic levitation spherical motor. Background technique [0002] With the development of robot technology, there are more and more degrees of freedom in robot joints, and the spherical motor is a mechanism that can realize multi-degree-of-freedom movements. Spherical motors have two or three rotational degrees of freedom and can rotate about multiple axes in space at a fixed point. Spherical motors can replace multiple single-degree-of-freedom motors in mechanical systems that require multi-degree-of-freedom control, simplify the system structure, reduce system volume, and eliminate transmission errors caused by backlash. Most of the existing spherical motor structures are to install the stator and rotor of the motor on the universal joint or the ball joint, and realize the motion of two degrees of freedom or three degrees of freedom wit...

Claims

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Application Information

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IPC IPC(8): H02K21/28H02N15/00
CPCH02K21/28H02N15/00
Inventor 刘昊马相孚王成罡丛炳龙王赟符丽君
Owner BEIJING MECHANICAL EQUIP INST
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