Permanent magnet spherical motor with outer rotor structure

Abstract

The invention relates to a permanent magnet spherical motor with an outer rotor structure. A stator comprises a stator coil, an inner support of the stator and an outer support of the stator. The inner support of the stator comprises a chassis part and a spherical part fixed on the chassis. A groove matching the stator coil is arranged on the outer surface of the spherical part. The stator coil isembedded in the groove. The outer support of the stator is fixed outside the stator coil. The outer surface of the outer support of the stator is a smooth spherical surface. The outer support of thestator is two hemispherical casings which can be fixed by splicing, and two hemispherical casings can be spliced into an entire smooth spherical casing. A rotor comprises permanent magnet poles and arotor support. The permanent magnet poles and a ball are placed on the rotor support, and the rotor support is connected with an output shaft to output mechanical torque. The rotor support is providedwith a notch matching the ball. The notch matches the ball, and the rotor support can be buckled on the outer support of the stator and does not disengage during movement. The poles are distributed on the hemispherical surface of the inner surface of the rotor support, wherein the hemispherical surface is in the positive half-axis direction of Z-axis of the inner surface of the rotor support.

Description

technical field [0001] The invention belongs to the field of spherical motor structure design, in particular to a permanent magnet spherical motor with an outer rotor structure. Background technique [0002] At present, precision devices for spatial multi-dimensional motion such as industrial manipulator joints and panorama heads have been widely used. These devices currently require multiple single-degree-of-freedom drive motors and complex mechanical transmission mechanisms to complete three-dimensional motion in space, resulting in system Complex, bulky, low efficiency, insufficient precision, slow response, poor dynamic performance. Under such circumstances, spherical motors capable of providing multi-degree-of-freedom motion have received extensive attention. Since the spherical motor was proposed, scholars at home and abroad have done a lot of work in the fields of its structure analysis and control. However, the permanent magnet spherical motor still needs to overco...

AI Technical Summary

Problems solved by technology

However, the permanent magnet spherical motor still needs to overcome some problems in practice: due to the complex electromagnetic field distribution of the permanent magnet spherical motor, the moment and angle characteristics need to be improved, the torque output generated by the spherical rotor is very difficult, and the loss during the torque output process Very large; the operating principles of permanent magnet spherical motors are different, corresponding to different detection technologies and control algorithms, which are still in the stage of theoretical exploration, and the practicability is poor

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