A spherical motor, a spherical motor position detection device and method

A technology of spherical motors and detection devices, applied in electromechanical devices, measuring devices, electrical components, etc., can solve problems such as high cost of implementation and complicated calculation process

Active Publication Date: 2020-05-01
ANHUI UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this application, after data processing of the gyroscope and accelerometer, the attitude calculation algorithm based on the quaternion update can better reflect the position change of the ball machine rotor after the full-angle calculation, but the application obtained a spherical The entire calculation process of the motor rotor position change is more complicated, and the implementation cost is higher, which still needs to be further improved

Method used

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  • A spherical motor, a spherical motor position detection device and method
  • A spherical motor, a spherical motor position detection device and method
  • A spherical motor, a spherical motor position detection device and method

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Embodiment 1

[0038] The position detection device of a spherical motor in this embodiment takes the rotor of a permanent magnet spherical stepping motor as the research object, and uses a passive wireless surface acoustic wave (Surface Acoustic Wave, SAW) sensing technology to make a SAW pressure sensor as a sensor . figure 1 The permanent magnet spherical stepper motor model diagram used in this embodiment is given, figure 2 The structure diagram of the permanent magnet spherical stepping motor rotor of this embodiment is given.

[0039] Such as figure 1 , figure 2 As shown, the spherical motor in this embodiment includes a rotor 1 and a stator 2. The rotor 1 is spherical, and n permanent magnets 3 are reasonably inlaid inside the spherical rotor according to certain rules. The specific number of n can be designed according to actual needs. , 80 permanent magnets 3 are inlaid in this embodiment. For these 80 permanent magnets 3, their specifications are consistent, and the N pole of ...

Embodiment 2

[0064] A spherical motor and its position detection device for the spherical motor in this embodiment are basically the same as in Embodiment 1, except that in this embodiment, 70 permanent magnets are regularly inlaid inside the spherical rotor, and the permanent magnet 3 is attached to one end pointing to the spherical surface. The surface acoustic wave SAW sensor 7 requires a total of 70 SAW sensors.

Embodiment 3

[0066] A spherical motor and its position detection device for the spherical motor in this embodiment are basically the same as in Embodiment 1, except that in this embodiment, 90 permanent magnets are regularly inlaid inside the spherical rotor, and the permanent magnet 3 is attached to one end pointing to the spherical surface. The surface acoustic wave SAW sensor 7 requires a total of 90 SAW sensors.

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Abstract

The invention discloses a spherical motor, a spherical motor position detection device and a method, and belongs to the technical field of spherical motor attitude detection. The present invention takes a new type of spherical motor, that is, the rotor of a permanent magnet spherical stepping motor, as the research object, uses a passive wireless SAW pressure sensor, and arranges the SAW sensor at one end of the permanent magnet of the spherical motor pointing to the spherical surface. The measurement task is completed in the curved surface slit space between the stators, and the position of the rotor of the spherical motor can be found in time and accurately, with low cost and high cost performance.

Description

technical field [0001] The invention relates to the technical field of attitude detection of a spherical motor, and more specifically, to a spherical motor, a spherical motor position detection device and a method. Background technique [0002] With the continuous development of contemporary industry, the functional requirements for motors are also relatively increased. Some special structural devices that perform complex movements require motors to achieve multi-degree-of-freedom movements. If a traditional single-degree-of-freedom industrial motor is used, the number of single-degree-of-freedom power devices must be increased to realize multi-degree-of-freedom spatial movement in its combined form. Such devices are generally complex in structure, bulky, difficult to install, and low in efficiency. , and there are transmission errors between each device, the accumulation of each error will lead to a decrease in the accuracy of the system, poor stability, and cannot meet the...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): H02K29/06H02K1/27G01B15/00
CPCG01B15/00H02K1/27H02K29/06
Inventor李国丽王群京李绍铭程梅闫成忍
OwnerANHUI UNIVERSITY