High-stability three-degree of freedom moving motor

Abstract

The invention provides a high-stability three-degree of freedom moving motor, and relates to the technical field of three-degree of freedom motors. The high-stability three-degree of freedom moving motor comprises an autorotation module and a deflection module, wherein the deflection module comprises an outer stator, a middle rotor and an inner stator; the inner stator is fixed with a shell through the lower opening of the middle rotor; the autorotation module comprises an autorotation stator, an autorotation rotor and an output shaft which is fixed with the autorotation rotor; the autorotation stator is rotatably connected with the output shaft; and the autorotation stator is fixedly connected with the upper opening end of the middle rotor. The high-stability three-degree of freedom moving motor is mainly used for solving the problems that relatively large rotor eccentric displacement is easy to generate, the stability is relatively bad and constant torque is difficult to output whenhigh-speed revolution and directional inclined operation are separately realized as the volume is large and the rotation inert is too large in the prior art. The high-stability three-degree of freedommoving motor has the characteristics of being strong in driving module independence, high in cooperative control accuracy, small in mechanical system duty ratio, small in volume, good in response speed smoothness, good in stability, relatively constant in output torque and wide in application.

Description

technical field [0001] The invention relates to the technical field of three-degree-of-freedom motors. Background technique [0002] With the continuous innovation and development of intelligent motion drive devices, the ability to achieve multiple degrees of freedom in a small space has attracted widespread attention. The use of multiple motor drives requires the coupling control of the driven mechanism, and the multi-freedom The high-speed motor is directly driven as the active mechanism, which can avoid many unfavorable factors such as bulky equipment, strong nonlinear coupling, and low motion accuracy brought by the intermediate transmission device. Due to its special structure, the spherical motor can realize three rotational degrees of freedom in three-dimensional space. The existing multi-degree-of-freedom motors are mostly a "whole sphere" spherical rotor. A group of stator coils is excited with different amplitudes and phases to realize multi-degree-of-freedom moti...

AI Technical Summary

Problems solved by technology

[0003] The invention provides a high-stability three-degree-of-freedom motion motor, which mainly solves the problem of large volume and excessive moment of inertia existing in the prior art, and it is easy to generate large rotor eccentric displacement when high-speed rotating operation and directional tilting operation are independently realized. , the problem of poor stability and difficulty in outputting constant torque

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