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A compound hybrid excitation multi-degree-of-freedom spherical motor

A hybrid excitation and spherical motor technology, applied to synchronous motors with stationary armatures and rotating magnets, magnetic circuits, electromechanical devices, etc., can solve the torque performance and range of motion limitations of multi-degree-of-freedom motors To solve problems such as serious road coupling and poor motor output performance, it achieves the effects of easy analysis and control, low coupling degree, and large deflection angle

Active Publication Date: 2022-05-24
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Multi-degree-of-freedom motors need to use a large number of iron cores to increase the output torque, but this will lead to serious magnetic circuit coupling in the iron cores, making the output performance of the motor poor and difficult to control. The torque performance and range of motion of multi-degree-of-freedom motors are severely limited and cannot be used in areas where these performance requirements are high

Method used

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  • A compound hybrid excitation multi-degree-of-freedom spherical motor
  • A compound hybrid excitation multi-degree-of-freedom spherical motor
  • A compound hybrid excitation multi-degree-of-freedom spherical motor

Examples

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Embodiment 1

[0040] refer to Figure 1 to Figure 4 , showing a compound hybrid excitation multi-degree-of-freedom spherical motor, including a stator 10 and a rotor 20, the stator 10 and the rotor 20 are installed with reference to the same spherical center, and the gap between the stator 10 and the rotor 20 forms a spherical air gap, that is, the stator 10 The surface on the air gap side and the surface on the air gap side of the rotor 20 are both concentric equivalent spherical arc structures, and there is a regular and uniform air gap between the two surfaces.

[0041] like figure 2 , the stator 10 includes a plurality of stator core units 11, and a stator connection core 12 is arranged between two adjacent stator core units 11. combine Figure 4 The stator core unit 11 is provided with at least three stator teeth 13, the three stator teeth 13 are wound with windings 16, and the stator teeth 13 are provided with stator permanent magnets 15. The yoke of the stator core unit 11 and th...

Embodiment 2

[0071] refer to Figure 10 , the compound hybrid excitation multi-degree-of-freedom spherical motor of this embodiment is different from the first embodiment in that it adopts an inner stator and outer rotor structure. Specifically, the housing 31 is connected and fixed to the stator 10 , and the rotor center shaft 24 of the rotor 20 and the bearing strut 41 are connected spherically through the bearing lubricating spherical surface 42 . In the stator 10, the stator permanent magnets 15 on the stator teeth 13 are arranged radially outward, and the magnetization directions of the stator permanent magnets 15 are radially outward; in the rotor 20, the rotor grooves are arranged radially inward, facing the stator. 10 Surfaces on the air gap side. The bearing lubricating spherical surface 42 in this embodiment is provided on the end of the rotor center shaft 24 .

[0072] In the above two embodiments, the rotor permanent magnets 21 are installed in the rotor 20 in a surface-mount...

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Abstract

The invention discloses a composite hybrid excitation multi-degree-of-freedom spherical motor, which relates to the technical field of motors and includes a stator and a rotor, the stator and the rotor are installed with reference to the same spherical center, and the gap between the stator and the rotor forms a spherical air gap; The coils of each winding are fed with a composite current, which includes a rotation current component and a deflection current component, and the torque output performance of the rotor is changed by adjusting the respective rotation current components and the magnitude and phase of each deflection current component in the composite current , so as to realize the control of the rotor's rotation and deflection in various directions, so that the compound hybrid excitation multi-degree-of-freedom spherical motor has only rotation state, only deflection state and compound motion state. The invention utilizes the hybrid excitation characteristic of the direct current bias magnetic flux reversal motor, and has the advantages of high torque density, large motion range, stable torque output and the like.

Description

technical field [0001] The invention relates to the technical field of motors, in particular to a compound hybrid excitation multi-degree-of-freedom spherical motor. Background technique [0002] With the development of modern science and technology, the requirements for multi-degree-of-freedom motors in terms of application scope, integration and flexibility are gradually becoming stricter. Multi-degree-of-freedom motors with various novel structures and different motor principles emerge in an endless stream, which improve the torque performance, motion range, control accuracy and control difficulty of multi-degree-of-freedom motors to varying degrees. [0003] The multi-degree-of-freedom motor needs to use a lot of iron cores to increase the output torque, but it will lead to serious magnetic circuit coupling in the iron core, which makes the output performance of the motor poor and difficult to control. The torque performance and motion range of multi-degree-of-freedom m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02K21/14H02K1/17H02K1/276
CPCH02K21/14H02K1/17H02K1/276H02K2201/03H02K2201/18
Inventor 曾炳森曹江华陈晴钟冠鸣杨向宇赵世伟
Owner SOUTH CHINA UNIV OF TECH
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