A spherical DC torque motor

Abstract

The present invention discloses a spherical DC torque motor, comprising: a stator coil assembly, which is a spherical structure, and the stator coil assembly is fixed as a whole through the end; a rotor assembly, which is a spherical structure with the same radius as the stator coil assembly, and the outer surface is connected to a rotating component for positioning the rotor assembly, the rotor assembly and the stator coil assembly are arranged in parallel and concentrically in sequence, and when powered on, the rotor assembly deflects relative to the stator coil assembly in a three-dimensional plane. The spherical DC torque motor adopts a split-assembly structure and has no bearings, which avoids the adverse effects of bearing wear, increases service life, and greatly reduces its own weight. While meeting functional requirements, it also simplifies the overall structure and is easy to use. The spherical DC torque motor can achieve three-dimensional movement within a fixed range; the motor is a direct-drive motor, has no additional deceleration mechanism, has a simplified structure, and has significantly improved torque conversion efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of torque motors, and in particular to a spherical DC torque motor. Background Art

[0002] Torque motor is a special motor with a large number of poles. It can continue to run at low speed or even stalled without damaging the motor. In this working mode, the motor can provide stable torque to the load. Torque motor can keep the torque basically constant within a wide speed range. It is suitable for transmission occasions that require constant torque when the speed changes.

[0003] Torque motors are widely used in the motor industry. Currently, torque motors generally use rotor rotation to achieve torque output. While ensuring the output torque, the motor itself is heavy, has many assembly parts, and a complex assembly structure, which makes the accumulated assembly precision error too large, affecting the stability of the motor's long-term operation. At the same time, it causes the wear of the motor's own bearings to increase, thereby shortening the service life of the motor. Summary of the invention

[0004] In response to the above-mentioned problems, the present invention aims to provide a spherical DC torque motor, which adopts a split-assembly structure and is bearingless, thereby avoiding the adverse effects of bearing wear, increasing service life, and greatly reducing its own weight. While meeting functional requirements, it also simplifies the overall structure and facilitates use.

[0005] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is as follows: A spherical DC torque motor, characterized in that it comprises: a stator coil assembly, which is a spherical structure, and the stator coil assembly is fixed as a whole through the end portion;

[0006] A rotor assembly, which is a spherical structure with the same radius as the stator coil assembly, and a rotating component for positioning the rotor assembly is connected to its outer surface, the rotor assembly and the stator coil assembly are arranged in parallel and concentrically in sequence, and the rotor assembly and the stator coil assembly are staggered in the circumferential direction in the horizontal plane, and when powered on, the rotor assembly deflects relative to the stator coil assembly in a three-dimensional plane;

[0007] The connecting body is arranged at the end of the stator coil assembly and fixes the stator coil assembly to an external device.

[0008] Specifically, the stator coil assembly includes an upper stator coil and a lower stator coil which are formed by coil winding and have a rectangular frame structure. The lower stator coil is vertically inserted into the upper stator coil, and gaps are reserved between the upper and lower outer surfaces of the lower stator coil and the upper and lower inner surfaces of the upper stator coil. The connector is provided at both ends of the upper stator coil and the lower stator coil.

[0009] Specifically, the rotor assembly includes a lower rotor inserted into the lower stator coil and an upper rotor located on the upper surface of the upper stator coil, and magnetic steel is provided on the inner bottom surface of the upper rotor and the upper surface of the lower rotor, and a connecting rod is also provided at each corner between the upper rotor and the lower rotor.

[0010] Preferably, the upper and lower gaps between the components of the stator coil assembly and the rotor assembly are 2 mm.

[0011] The beneficial effects of the present invention are as follows: the spherical DC torque motor disclosed in the present invention adopts a split-assembly structure and has no bearings, thereby avoiding the adverse effects caused by bearing wear, increasing the service life, and greatly reducing its own weight. While meeting functional requirements, it also simplifies the overall structure and facilitates use.

[0012] The spherical DC torque motor can realize three-dimensional motion within a fixed range; the motor is a direct drive motor without an additional reduction mechanism, the structure is simplified, and the torque conversion efficiency is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is the overall assembly structure diagram of the spherical DC torque motor of the present invention.

[0014] Figure 2 This is a structural diagram of the upper rotor of the present invention.

[0015] Figure 3 This is a structural diagram of the lower rotor of the present invention.

[0016] Figure 4 This is a structural diagram of the stator coil of the present invention.

[0017] Figure 5 This is a structural diagram of the stator coil of the present invention.

[0018] Figure 6 This is a structural diagram of the upper and lower stator coils of the present invention.

[0019] Figure 7 This is a diagram of the connection and fastening structure of the upper and lower rotors of the present invention.

[0020] Figure 8 It is a schematic diagram of the rotation angle range of the rotor component of the present invention compared with the stator coil assembly.

[0021] Among them, 11-upper stator coil; 12-lower stator coil; 21-upper rotor; 22-lower rotor; 3-connector; 4-magnetic steel; 5-connecting rod. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0023] See attached Figures 1 to 8 A spherical DC torque motor shown includes a stator coil assembly which is a spherical structure and the stator coil assembly is fixed as a whole through the end portions.

[0024] Specifically, Figure 4-5 As shown, the stator coil assembly includes an upper stator coil 11 and a lower stator coil 12 which are formed by coil winding and have a rectangular frame structure. Both are inner cavity structures, and the upper and lower surfaces are spherical structures. The radius of the spherical structure of the upper stator coil 11 and the lower stator coil 12 preferably in the present invention is 173 mm.

[0025] The lower stator coil 12 is vertically inserted into the upper stator coil 11, and a gap is reserved between the upper and lower outer surfaces of the lower stator coil 12 and the upper and lower inner surfaces of the upper stator coil 11, and the gap is preferably 2 mm. The connector 3 is provided at both ends of the upper stator coil 11 and the lower stator coil 12. The connector 3 can be any connecting structure, and in the present invention, it is a square structure, which is sequentially bonded to the ends of the upper stator coil 11 and the lower stator coil 12 with high-strength glue, and preferably a connecting hole (not shown in the figure) can be opened on the connector 3 to connect the connector 3 to an external device, thereby achieving the fixation and relative positioning of the upper stator coil 11 and the lower stator coil 12, and maintaining the upper and lower spacing of both to be 2 mm.

[0026] like Figure 7 The rotor assembly shown is a spherical structure with the same radius as the stator coil assembly, and its outer surface is connected to a rotating component for positioning it. The rotating component is driven to rotate by the rotational torque provided by the rotor assembly, and the rotating component is an external device.

[0027] The rotor assembly and the stator coil assembly are arranged in parallel and concentrically in sequence, and the rotor assembly and the stator coil assembly are arranged staggered along the circumferential direction in the horizontal plane (such as Figure 1 The assembly structure shown in the figure) and in the energized state, the rotor assembly deflects in a three-dimensional plane relative to the stator coil assembly.

[0028] Specific structure such as Figure 1-3As shown in Figures 7 and 8, the rotor assembly includes a lower rotor 22 inserted into the lower stator coil 12 and an upper rotor 21 located on the upper surface of the upper stator coil 11. The upper and lower rotors are both made of permanent magnet materials, and magnetic steel 4 is provided on the inner bottom surface of the upper rotor 21 and the upper surface of the lower rotor 22. The magnetic steel 4 is also a spherical structure with the same radius as the upper and lower rotors. The magnetic steel 4 is also preferably bonded to the surfaces of the upper rotor 21 and the lower rotor 22 that are close to each other using high-strength glue.

[0029] A connecting rod 5 is provided at each corner between the upper rotor 21 and the lower rotor 22 to connect and fasten the two. The rotating parts of the external equipment are connected and fixed to the upper surface of the upper rotor 21, and the upper surface of the upper rotor 21 can be set to a spherical shape, a flat shape or other adaptive structural shapes according to the structure of the rotating parts.

[0030] The upper and lower gaps between the components of the stator coil assembly and the rotor assembly are both 2 mm.

[0031] The assembly operation of the spherical DC torque motor disclosed in the present invention is as follows: Figure 1 As shown, the lower rotor 22 with the magnetic steel 4 bonded to the upper surface is inserted into the lower stator coil 12, and then the two are inserted into the upper stator coil 11 as a whole. Then, the magnetic steel 4 bonded to the upper rotor 21 is facing downward and located on the top of the upper stator coil 11, and the upper rotor 21 and the lower rotor 22 are connected and fastened by multiple connecting rods 5. Then, the upper stator coil 11 and the lower stator coil 12 are fixed to the external device through the connector 3, and the rotating parts of the external device are connected and fastened to the surface of the upper rotor 21, so as to realize the assembly of the spherical DC torque motor and the application assembly operation with the external device and the rotating parts.

[0032] Function realization: The upper and lower stator coils of the spherical DC torque motor are respectively connected to a 28V DC power supply, and the lower rotor 22 generates an interaction force through electromagnetic induction inside the coil, and this force is the rotation driving force of the lower rotor 22; the lower rotor 22 transmits the force to the upper rotor 21 through the connecting rod 5, thereby driving the rotating parts to move.

[0033] Rotor movement: The rotor parts can move freely within the specified range by adjusting the current of the upper and lower coils, such as Figure 8 As shown, the actual maximum motion deflection angle of the torque motor is ±9.06°, and the specific parameters are shown in Table 1 below:

[0034]

[0035]

[0036] The principle of the present invention is that the spherical DC torque motor adopts a split-assembly structure and has no bearings, thereby avoiding the adverse effects of bearing wear and greatly reducing its own weight. While meeting functional requirements, it also simplifies the overall structure and facilitates use.

[0037] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A spherical DC torque motor, characterized in that: include: The stator coil assembly is a spherical structure, and the stator coil assembly is fixed as a whole through the end portion; A rotor assembly, which is a spherical structure with the same radius as the stator coil assembly, and a rotating component for positioning the rotor assembly is connected to its outer surface, the rotor assembly and the stator coil assembly are arranged in parallel and concentrically in sequence, and the rotor assembly and the stator coil assembly are staggered in the circumferential direction in the horizontal plane, and when powered on, the rotor assembly deflects relative to the stator coil assembly in a three-dimensional plane; A connector, which is disposed at an end of the stator coil assembly and fixes the stator coil assembly to an external device; The stator coil assembly comprises an upper stator coil and a lower stator coil which are formed by coil winding and are in a rectangular frame structure, the lower stator coil is vertically inserted into the upper stator coil, and a gap is reserved between the upper and lower outer surfaces of the lower stator coil and the upper and lower inner surfaces of the upper stator coil, and the connector is provided at both ends of the upper stator coil and the lower stator coil; The rotor assembly includes a lower rotor inserted into the lower stator coil and an upper rotor located on the upper surface of the upper stator coil, and magnetic steel is arranged on the inner bottom surface of the upper rotor and the upper surface of the lower rotor, and a connecting rod is arranged at each corner between the upper rotor and the lower rotor.

2. A spherical DC torque motor according to claim 1, characterized in that: The upper and lower gaps between the stator coil assembly and the rotor assembly are 2 mm.

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