Multi-degree-of-freedom spherical motor and speed reducing mechanism thereof

Abstract

The invention discloses a multi-degree-of-freedom spherical motor and a speed reducing mechanism thereof. The motor comprises a rotor, a permanent magnet, a holding rack, a ball, an output shell, a plurality of labels, a fixed magnet, a stator support and electromagnets, wherein the plurality of labels are uniformly embedded onto the surface of the rotor; the permanent magnet is connected to a step hole of the rotor; the holding rack is embedded onto the outer side of the rotor; the fixed magnet is placed in the fixed magnet seat of the holding rack; the output shell is embedded onto the outerside of the holding rack; the ball is placed in a ball through hole of the holding rack, and the outer surface is separately in contact with the outer surface of the rotor and the inner surface of the output shell; the electromagnet is fixed in the electromagnet seat of the stator support, the pole directions of adjacent two electromagnets are opposite, and the electromagnets are matched with thepermanent magnet; a plurality of positioning sensors are uniformly arranged on the inner surface of the stator support, and the positioning sensors are matched with the labels; and the fixed magnet is fixed in the magnet seat of the stator support, and is matched with the fixed magnet in the holding rack. The motor is simple and compact in structure, high in integrating degree and high in universality.

Description

technical field [0001] The invention relates to the field of motor design, in particular to a multi-degree-of-freedom spherical motor and a reduction mechanism thereof. Background technique [0002] With the rapid development of modern industrial technology, the application of robots has significantly improved productivity and reduced labor costs. However, when mechanical devices such as robots complete complex tasks, they often require multi-degree-of-freedom movements. For this reason, the combination of multiple traditional single-degree-of-freedom motors is generally used in engineering, and the multi-degree-of-freedom movement of the device is realized through the coordinated drive of multiple motors, so that the device is not only complex in structure and bulky, but also has low motion coordination and load Small capacity, limited movement space, slow response speed, poor dynamic performance and stability. The spherical motor can theoretically realize movement in any ...

AI Technical Summary

Problems solved by technology

The document with the application number 201710152429.6 discloses a three-degree-of-freedom permanent-magnet spherical motor. The three-degree-of-freedom permanent-magnet spherical motor supported by universal balls uses 36 stator coils with independent power supply circuits to drive the motor rotor to rotate. However, due to the The motor adopts the way that the output shaft is connected with the flange, and it is difficult for the motor to realize three-degree-of-freedom full-circle rotation

The document with the application number 201521075361.9 discloses a gear transmission mechanism driven by a spherical motor. By setting a steering mechanism composed of a bevel gear at the rotor shaft end of the spherical motor, the deceleration and torque increase of the motor can be realized. However, the reduction mechanism uses a large number of gear mechanisms. Not only is the structure complex and bulky, but it also requires extremely high manufacturing costs and installation accuracy. More importantly, the reducer cannot be driven by the three-degree-of-freedom spherical motor, and can only adjust the speed of the rotor shaft from two directions.

[0004] To sum up, although the existing spherical motor can initially realize multi-degree-of-freedom motion, there are many problems such as complex structure, limited range of motion, no corresponding position feedback system, and inability to perform precise position servo control. , for the reduction mechanism of the spherical motor, it has not been able to realize the output in any direction of the three degrees of freedom, which fundamentally limits the popularization and application of the spherical motor

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