Three-degree-of-freedom permanent magnet spherical motion generator
A technology of spherical motion and degrees of freedom, applied in the direction of magnetic circuit rotating parts, magnetic circuits, electric components, etc., can solve the problems of small working space of spherical motor, unable to meet the requirements of applications, etc., and achieve the effect of high flexibility
Active Publication Date: 2020-05-19
BEIHANG UNIV
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Problems solved by technology
However, due to the limitation of its own mechanical structure, in many cases, the working space of the spherical motor is relatively small, which cannot meet the requirements of the application
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[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings.
[0060] see figure 1 , Figure 1A , Figure 1BAs shown, the three-degree-of-freedom permanent magnet spherical motion generator designed by the present invention includes a first-layer rotating shaft 5, a second-layer rotating shaft 6, a third-layer rotating shaft 7, a first-layer driving assembly 1, and a second-layer driving assembly 2. The third layer drive assembly 3, the execution end 4, the upper end cover 11, the lower end cover 12, the first spacer 13 and the second spacer 14; where:
[0061] The upper end of the first layer of drive assembly 1 is equipped with an upper end cover 11, see figure 1 , Figure 1B , image 3 , Figure 3A shown;
[0062] The lower end of the third layer drive assembly 3 is equipped with a lower end cover 12, see figure 1 , Figure 1A , Figure 1B , image 3 , Figure 3A shown;
[0063] The first layer drive asse...
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The invention discloses a three-degree-of-freedom permanent magnet spherical motion generator which comprises a first-layer rotating shaft (5), a second-layer rotating shaft (6), a third-layer rotating shaft (7), a first-layer driving assembly (1), a second-layer driving assembly (2), a third-layer driving assembly (3) and an execution tail end (4). The three layers of rotating shafts are placed from outside to inside, and the three layers of driving assemblies are placed in an overlapped mode from top to bottom. An upper end cover (11) is arranged above the first-layer driving assembly (1), alower end cover (12) is arranged under the third-layer driving assembly (3), and two spacers are arranged among the three layers of driving assemblies for isolation. According to the spherical motiongenerator, when the same current or different currents are given in the three layers of driving assemblies, spin motion or tilt motion of the execution tail end (4) can be achieved. The electromagnetic driving modes of a spherical parallel mechanism and a spherical motor are combined, and the three-degree-of-freedom permanent magnet spherical motion generator can adapt to multiple fields of robots, radar driving aerospace and the like.
Description
technical field [0001] The present invention relates to a mechatronic mechanism capable of generating three-degree-of-freedom spherical motion, more particularly, a three-degree-of-freedom permanent magnet spherical motion generator based on electromagnetic drive. Background technique [0002] In modern industrial production, in order to maximize the working range and efficiency of the robot, it is often required that the mechanism can realize multi-degree-of-freedom rotational movement in three-dimensional space, especially three-degree-of-freedom spherical movement. At present, there are two main types of three-degree-of-freedom spherical motion generators: spherical parallel mechanism and spherical motor. [0003] The structural feature of the spherical parallel mechanism is that multiple independent branch chains are connected to the output end, so that the inertial force on the output end or the external force received can be well shared by multiple branch chains, which...
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IPC IPC(8): H02K16/00H02K17/36H02K3/04H02K1/27H02K11/21H02K5/173
CPCH02K1/2706H02K3/04H02K5/173H02K16/00H02K17/36H02K11/21
Inventor 刘敬猛李雪蓉陈伟海张建斌
Owner BEIHANG UNIV