Three-degree-of-freedom spherical motor

Abstract

The invention relates to the technical field of motors, and discloses a three-degree-of-freedom spherical motor, which comprises a base, a first inclined stator, a first inclined rotor, a second inclined stator, a second inclined rotor and a rotation motor, the first inclined stator and the first inclined rotor are matched so that the second inclined stator, the second inclined rotor and the rotation motor can rotate around the Y axis, and the second inclined stator and the second inclined rotor are matched so that the first inclined stator, the first inclined rotor and the rotation motor can rotate around the X axis. The output shaft of the autorotation motor can rotate around the axis of the autorotation motor, that is, the output shaft of the autorotation motor can rotate and incline around the X axis, can incline around the Y axis and can rotate around the axis of the autorotation motor, so that three-degree-of-freedom motion, three-degree-of-freedom independent control and mutual independence of inclination motion and autorotation motion are realized; therefore, motion decoupling is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and particularly to a three-degree-of-freedom spherical motor. Background Art

[0002] Traditional robotic arm wrist joints are often composed of three single-axis rotating reduction motors connected in series, which have disadvantages such as large transmission errors, large overall mass, and large dynamic performance. The spherical motor has a compact structure and flexible movement. Moreover, the spherical motor is driven by an electromagnetic direct drive method, which has advantages such as small transmission loss, fast response speed, and high control accuracy. Compared with traditional robotic arm joints, the joints driven by spherical motors have outstanding advantages, so they have become one of the research hotspots in various countries.

[0003] However, the existing spherical motors have serious motion coupling. After tilting, due to the misalignment of the stator and the rotor, a large restoring torque will be generated, which will hinder the further tilting of the rotor. In addition, after tilting, the actual electromagnetic action area of the self-rotation motion will be reduced, resulting in a decrease in the self-rotation torque. Therefore, the tilting angle of the existing spherical motors is very small, and the tilting force rapidly decays as the tilting angle increases. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a three-degree-of-freedom spherical motor in which the tilting motion and the self-rotation motion are independent of each other and can achieve motion decoupling.

[0005] To solve the above technical problem, the present invention provides a three-degree-of-freedom spherical motor, including a base, a first tilting stator, a first tilting rotor, a second tilting stator, a second tilting rotor, and a self-rotation motor;

[0006] There are two first tilting stators, which are symmetrically arranged on both sides of the base. The first tilting stator includes a first stator bracket and a first winding. The first stator bracket is rotationally connected to the base through the X-axis, and the first stator bracket can slide relative to the base along the X-axis direction. The first winding is installed inside the first stator bracket. The first tilting rotor is arranged inside the first winding. The first tilting rotor includes a first rotor bracket and a first permanent magnet array. The first rotor bracket is arc-shaped, and one of the radial extension lines of the first rotor bracket coincides with the X-axis. The first permanent magnet array is installed outside the first rotor bracket and arranged along the outer circumference of the first rotor bracket. The first permanent magnet array corresponds to the first winding. When the first winding is energized, the first tilting rotor rotates around the axis of the first rotor bracket;

[0007] There are two second inclined stators, which are symmetrically arranged on both sides of the base. The second inclined stator includes a second stator bracket and a second winding. The second stator bracket is rotatably connected to the base through the Y-axis, and the second stator bracket can slide relative to the base along the Y-axis direction. The second winding is installed inside the second stator bracket. Inside the second winding, there is a second inclined rotor. The second inclined rotor includes a second rotor bracket and a second permanent magnet array. The second rotor bracket is arc-shaped, and one of the radial extension lines of the second rotor bracket coincides with the Y-axis. The second permanent magnet array is installed outside the second rotor bracket and is arranged along the outer circumference of the second rotor bracket. The second permanent magnet array corresponds to the second winding. When the second winding is energized, the second inclined rotor rotates around the axis of the second rotor bracket;

[0008] The self-rotating motor includes an output shaft and a housing. The axes of the output shaft, the first rotor bracket, and the second rotor bracket intersect at the origin. The output shaft extends from the top of the housing. The housing is arranged inside the first rotor bracket and the second rotor bracket. The top of the housing is fixedly connected to the top end of the second rotor bracket, and the bottom of the housing is fixedly connected to the bottom end of the second rotor bracket. The top and bottom of the housing are respectively provided with connecting sleeves coaxially arranged with the output shaft. The connecting sleeves can rotate relative to the housing around the axis of the output shaft and can slide relative to the housing along the axial direction of the output shaft. The connecting sleeve located at the top of the housing is fixedly connected to the top end of the first rotor bracket, and the connecting sleeve located at the bottom of the housing is fixedly connected to the bottom end of the first rotor bracket.

[0009] As a preferred solution of the present invention, first arc-shaped guide rails are respectively arranged on both sides of the first rotor bracket along its outer circumference. First pulleys are respectively arranged on both sides of the first stator bracket. The first pulleys can roll relatively on the corresponding first arc-shaped guide rails; second arc-shaped guide rails are respectively arranged on both sides of the second rotor bracket along the outer circumference of the second rotor bracket. Second pulleys are respectively arranged on both sides of the second stator bracket. The second pulleys can roll relatively on the corresponding second arc-shaped guide rails.

[0010] As a preferred embodiment of the present invention, a first positioning groove is formed between two first arc-shaped guide rails on the first rotor bracket. A first connecting frame is provided on the first stator bracket and is arranged along the outer periphery of the corresponding first rotor bracket, and the first connecting frame cooperates with the corresponding first positioning groove. A second positioning groove is formed between two second arc-shaped guide rails on the second rotor bracket. A second connecting frame is provided on the second stator bracket and is arranged along the outer periphery of the corresponding second rotor bracket, and the second connecting frame cooperates with the corresponding second positioning groove.

[0011] As a preferred embodiment of the present invention, the tops of the two first connecting frames are connected, and the bottoms of the two first connecting frames are connected to form a first connecting ring. The tops of the two second connecting frames are connected, and the bottoms of the second connecting frames are connected to form a second connecting ring. The top of the first connecting ring overlaps with the top of the second connecting ring, and the bottom of the first connecting ring overlaps with the bottom of the second connecting ring. The top end of the output shaft passes through the top of the first connecting ring and the top of the second connecting ring.

[0012] As a preferred embodiment of the present invention, a first magnetic encoder for detecting the rotational position of the first stator bracket is provided at the rotational connection between the first stator bracket and the base. A second magnetic encoder for detecting the rotational position of the second stator bracket is provided at the rotational connection between the second stator bracket and the base.

[0013] As a preferred embodiment of the present invention, the base is provided with a connecting ring, and the connecting ring is provided with a first connecting block and a second connecting block. There are two first connecting blocks and they are arranged opposite to each other along the X-axis direction. The first stator bracket is rotationally connected to the first connecting block through the X-axis, and the first stator bracket can slide relative to the first connecting block along the X-axis direction. There are two second connecting blocks and they are arranged opposite to each other along the Y-axis direction. The second stator bracket is rotationally connected to the second connecting block through the Y-axis, and the second stator bracket can slide relative to the second connecting block along the Y-axis direction.

[0014] As a preferred embodiment of the present invention, the first winding includes a plurality of first winding units that are distributed in an arc shape around the axis of the first rotor bracket, and the radian of the arc where the plurality of first winding units are located is smaller than the radian of the first rotor bracket. The second winding includes a plurality of second winding units that are distributed in an arc shape around the axis of the second rotor bracket, and the radian of the arc where the plurality of second winding units are located is smaller than the radian of the second rotor bracket.

[0015] As a preferred embodiment of the present invention, the rotor of the self-rotating motor is connected to the output shaft through an elastic shaft clamp.

[0016] As a preferred embodiment of the present invention, a first connecting shaft arranged along the X-axis is provided on the outer side of the first stator bracket, a first bearing cooperating with the first connecting shaft is provided on the base, and the first bearing is slidably connected to the base; a second connecting shaft arranged along the Y-axis is provided on the outer side of the second stator bracket, a second bearing cooperating with the second connecting shaft is provided on the base, and the second bearing is slidably connected to the base.

[0017] As a preferred embodiment of the present invention, third connecting shafts coaxial with the output shaft are respectively provided at the top and bottom of the housing, a third bearing is slidably connected to the third connecting shaft, and the third bearing is installed in the inner hole of the connecting sleeve.

[0018] Compared with the prior art, a three-degree-of-freedom spherical motor according to an embodiment of the present invention has the beneficial effects that the cooperation between the first inclined stator and the first inclined rotor of the present invention can enable the second inclined stator, the second inclined rotor, and the rotating motor to rotate around the Y-axis, the cooperation between the second inclined stator and the second inclined rotor can enable the first inclined stator, the first inclined rotor, and the rotating motor to rotate around the X-axis, and the output shaft of the rotating motor can rotate around its own axis, that is, the output shaft of the rotating motor in the present invention can rotate and tilt around the X-axis, can also tilt around the Y-axis, and can also rotate around its own axis, thereby realizing three-degree-of-freedom motion, independent control of the three degrees of freedom, independent tilt motion and rotation motion, without interference with each other, and realizing motion decoupling. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the structural diagram of the present invention;

[0020] Figure 2 is the structural diagram of the rotating motor after tilting in the present invention;

[0021] Figure 3 is Figure 1 the cross-sectional view of

[0022] Figure 4 is Figure 1 another cross-sectional view of

[0023] Figure 5 is the connection structural diagram of the first inclined stator, the first inclined rotor and the rotating motor of the present invention;

[0024] Figure 6 is the structural diagram of the first inclined stator of the invention;

[0025] Figure 7 is the connection structural diagram of the first inclined rotor and the connecting sleeve of the present invention;

[0026] Figure 8It is the connection structure diagram of the second inclined stator, the second inclined rotor and the self-rotating motor of the present invention;

[0027] Figure 9 It is the structure diagram of the second inclined stator of the present invention;

[0028] Figure 10 It is the structure diagram of the connection between the second inclined rotor and the self-rotating motor of the present invention;

[0029] Figure 11 It is the structure diagram of the base of the present invention;

[0030] Figure 12 It is the simplified diagram of the components of the present invention;

[0031] In the figure, 1 is the base; 11 is the connecting ring; 12 is the first connecting block; 13 is the second connecting block; 14 is the first bearing; 15 is the second bearing; 2 is the first inclined stator; 21 is the first stator bracket; 211 is the first connecting shaft; 22 is the first winding; 221 is the first winding unit; 23 is the first pulley; 24 is the first connecting frame; 241 is the first connecting ring; 3 is the first inclined rotor; 31 is the first rotor bracket; 32 is the first permanent magnet array; 33 is the first circular arc guide rail; 331 is the first positioning groove; 4 is the second inclined stator; 41 is the second stator bracket; 411 is the second connecting shaft; 42 is the second winding; 421 is the second winding unit; 43 is the second pulley; 44 is the second connecting frame; 441 is the second connecting ring; 5 is the second inclined rotor; 51 is the second rotor bracket; 52 is the second permanent magnet array; 53 is the second circular arc guide rail; 531 is the second positioning groove; 6 is the self-rotating motor; 61 is the output shaft; 62 is the machine shell; 621 is the third connecting shaft; 63 is the elastic shaft clamp; 7 is the connecting sleeve; 71 is the third bearing; 8 is the X-axis; 9 is the Y-axis; A1 is the first component; A2 is the second component; A3 is the third component; A4 is the fourth component; A5 is the fifth component; A5 is the sixth component. Specific embodiments

[0032] The following combines the drawings and embodiments to further describe in detail the specific embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0033] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. in the present invention is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0034] As Figure 1-11 shown, a three-degree-of-freedom spherical motor according to a preferred embodiment of the present invention includes a base, a first inclined stator, a first inclined rotor, a second inclined stator, a second inclined rotor, and a self-rotating motor;

[0035] There are two first inclined stators 2, which are symmetrically arranged on both sides of the base 1. The first inclined stator 2 includes a first stator bracket 21 and a first winding 22. The first stator bracket 21 is rotatably connected to the base 1 through the X-axis 8, and the first stator bracket 21 can slide relative to the base 1 along the X-axis 8, that is, the first stator bracket 21 can rotate around the X-axis and slide along the X-axis relative to the base 1. The first winding 22 is installed inside the first stator bracket 21. A first inclined rotor 3 is arranged inside the first winding 22. The first inclined rotor 3 includes a first rotor bracket 31 and a first permanent magnet array 32. The first rotor bracket 31 is arc-shaped, and one of the radial extension lines of the first rotor bracket 31 coincides with the X-axis. The first permanent magnet array 32 is installed outside the first rotor bracket 31 and arranged along the outer circumference of the first rotor bracket 31. The first permanent magnet array 32 corresponds to the first winding 22. When the first winding 22 is energized, the first inclined rotor 3 rotates around the axis of the first rotor bracket 31. It should be noted that when the first winding 22 is not energized, due to the setting of the first permanent magnet array 32, there is a magnetic attraction between the first inclined stator 2 and the first inclined rotor 3. Under this magnetic attraction, the first inclined rotor 3 can follow the first stator bracket 21 to rotate around the X-axis and move along the X-axis relative to the base 1;

[0036] The second inclined stator 4 is provided with two and symmetrically arranged on both sides of the base 1. The second inclined stator 4 includes a second stator bracket 41 and a second winding 42. The second stator bracket 41 is rotatably connected to the base 1 through the Y-axis 9, and the second stator bracket 41 can slide relative to the base 1 along the Y-axis 9, that is, the second stator bracket 41 can rotate around the Y-axis and slide along the Y-axis relative to the base 1. The second winding 42 is installed inside the second stator bracket 41. A second inclined rotor 5 is arranged inside the second winding 42. The second inclined rotor 5 includes a second rotor bracket 51 and a second permanent magnet array 52. The second rotor bracket 51 is arc-shaped, and one of the radial extension lines of the second rotor bracket 51 coincides with the Y-axis. The second permanent magnet array 52 is installed outside the second rotor bracket 51 and arranged along the outer circumference of the second rotor bracket 51. The second permanent magnet array 52 corresponds to the second winding 42. When the second winding 42 is energized, the second inclined rotor 5 rotates around the axis of the second rotor bracket 51. It should be noted that when the second winding 42 is not energized, due to the setting of the second permanent magnet array 52, there is a magnetic attraction between the second inclined stator 4 and the second inclined rotor 5. Under this magnetic attraction, the second inclined rotor 5 can follow the second stator bracket 41 to rotate around the Y-axis and move along the Y-axis relative to the base 1;

[0037] The self-rotating motor 6 includes an output shaft 61 and a housing 62. The axis of the output shaft 61, the axis of the first rotor bracket 31, and the axis of the second rotor bracket 51 intersect at the origin (the intersection of the X-axis and the Y-axis). Generally, the axis of the output shaft 61 is perpendicular to the axis of the first rotor bracket 31 and the axis of the second rotor bracket 51 respectively. The output shaft 61 extends out from the top of the housing 62. The housing 62 is arranged inside the first rotor bracket 31 and the second rotor bracket 51. The top of the housing 62 is fixedly connected to the top end of the second rotor bracket 51, and the bottom of the housing 62 is fixedly connected to the bottom end of the second rotor bracket 51. Connecting sleeves 7 coaxial with the output shaft 61 are respectively arranged at the top and bottom of the housing 62. The connecting sleeve 7 can rotate around the axis of the output shaft 61 relative to the housing 62 and can slide axially along the output shaft 61 relative to the housing 62. The connecting sleeve 7 at the top of the housing 62 is fixedly connected to the top end of the first rotor bracket 31, and the connecting sleeve 7 at the bottom of the housing 62 is fixedly connected to the bottom end of the first rotor bracket 31.

[0038] According to the structure and working principle of the present spherical motor, each component can be simplified as follows Figure 12The kinematic schematic diagram of the mechanism shown. Specifically, although there are two first inclined stators 2 and two first inclined rotors 3 respectively, their functions are the same, so it is actually a redundant constraint. When the windings of the first inclined stator 2 are energized, the first inclined rotor 3 rotates around the axis of the first rotor bracket 31, so it is finally simplified to a revolute pair b; similarly, the second inclined stator 4 and the second inclined rotor 5 can be simplified to a revolute pair e; since the housing 62 of the self-rotating motor 6 is fixedly connected to the second inclined rotor 5, they can be equivalent to the same component. The housing 62 of the self-rotating motor 6 is connected through a connecting sleeve 7 (able to rotate relatively around the axis of the connecting sleeve 7 and able to slide along the axis of the connecting sleeve 7). Although the top and bottom of the housing 62 are respectively connected with the connecting sleeve 7, their functions are the same, so it is simplified to a cylindrical pair c; the output shaft 61 of the self-rotating motor 6 and the housing 62 are directly simplified to a revolute pair f; the first stator bracket 21 is connected to the base 1 (able to rotate around the X-axis and able to slide along the X-axis direction), so it can be simplified to a cylindrical pair a, and the second stator bracket 41 is connected to the base 1 (able to rotate around the Y-axis and able to slide along the Y-axis direction), so it can be simplified to a cylindrical pair d; according to the Mechanical Design Handbook, the revolute pair is a V-class pair with a degree of freedom of 1, and the cylindrical pair is an IV-class pair with a degree of freedom of 2. After simplification, this spherical motor has a total of 6 components. Specifically, the first component A1 is the base, the second component A2 is the first inclined stator, the third component A3 is the first inclined rotor, the fourth component A4 is the second inclined stator, the fifth component A5 is the second inclined rotor and the housing, and the sixth component A6 is the output shaft. There are 3 V-class pairs and 3 IV-class pairs. According to the calculation formula for the degree of freedom of a single closed-loop spatial mechanism F = P5 + 2P4 + 3P3 + 4P2 + P - (6 - M)(j - n), where P5, P4, …, P are the numbers of V, IV, …, I-class kinematic pairs respectively. In this mechanism, P5 is 3 and P4 is 3; M is the number of common constraints, and in this mechanism M is 0; j is the total number of kinematic pairs, which is 6 in this mechanism; n is the number of movable components of the mechanism, which is 5 in this mechanism; calculating F = 3 + 2 * 3 - (6 - 0) * (6 - 5) = 3; the degree of freedom of this spherical motor is obtained as 3, which is consistent with the number of drivers. Therefore, there is a definite motion, that is, when this spherical motor works, it can realize the rotation of the conveying shaft around the X-axis, around the Y-axis, and around the axis of the output shaft 61.

[0039] The working principle of this embodiment is as follows: When the first winding 22 is energized, the first inclined rotor 3 rotates around the axis of the first rotor bracket 31. Since the first inclined rotor 3 is fixedly connected to the connecting sleeve 7, and the connecting sleeve 7 is connected to the housing 62 (the connecting sleeve 7 can rotate around the axis of the output shaft 61 relative to the housing 62 and can slide axially along the output shaft 61 relative to the housing 62), and the housing 62 is fixedly connected to the second inclined rotor 5, the first inclined rotor 3 will drive the self-rotating motor 6, the second inclined rotor 5, and the second inclined stator 4 to move. Eventually, the self-rotating motor 6, the second inclined rotor 5, and the second inclined stator 4 will rotate around the Y axis. Similarly, when the second winding 42 is energized, the second inclined rotor 5 rotates around the axis of the second rotor bracket 51, thereby driving the self-rotating motor 6, the first inclined rotor 3, and the first inclined rotor 3 to move. Eventually, the self-rotating motor 6, the second inclined rotor 5, and the second inclined stator 4 will rotate around the X axis. The output shaft 61 of the self-rotating motor 6 can rotate around its own axis. In summary, the output shaft 61 of the self-rotating motor 6 can rotate and tilt around the X axis, can also tilt around the Y axis, and can also rotate around its own axis, thus realizing three-degree-of-freedom motion. The three degrees of freedom are independently controlled, and the tilting motion and the self-rotation motion are independent of each other and do not interfere with each other, realizing motion decoupling. The first inclined stator 2 will tilt along with the first inclined rotor 3, and the second inclined stator 4 will tilt along with the second inclined rotor 5 without misalignment, so as to ensure that the acting area between the inclined stator and the inclined rotor remains unchanged. Therefore, a strong positioning torque will not be generated to affect the electromagnetic-driven tilt, that is, there is no restoring tilt torque. The self-rotating motor 6 follows the tilt of the first inclined rotor 3 or the second inclined rotor 5. Therefore, the interaction area between the stator and the rotor of the self-rotating motor 6 will not be affected either. Therefore, the original torque can still be maintained after tilting, that is, there is no influence on the self-rotation output torque. The tilting angle of this spherical motor is relatively large, larger than that of the existing permanent magnet iron-core spherical motor.

[0040] In addition, it should be noted that, in an ideal situation, the axes of the output shaft 61, the first rotor bracket 31, and the second rotor bracket 51 intersect at a point, that is, the origin of the coordinate system. However, in actual machining, due to the existence of errors, the axes of the output shaft 61, the first rotor bracket 31, and the second rotor bracket 51 do not intersect at the same point. At this time, if the structure does not allow the corresponding hinge to move axially along its axis, specifically, if the first inclined stator 2 cannot slide relative to the base 1 in the X-axis direction, the second inclined stator 4 cannot slide relative to the base 1 in the Y-axis direction, and the connecting sleeve 7 cannot slide relative to the housing 62 in the direction of the output shaft 61, then this spherical motor may get stuck during operation and cannot ensure its normal operation. Therefore, in this application, in order to avoid the structural jamming caused by actual machining errors, the first inclined stator 2 can slide relative to the base 1 along the X-axis, the second inclined stator 4 can slide relative to the base 1, and the connecting sleeve 7 can slide relative to the housing 62 in the direction of the output shaft 61. During the operation of this spherical motor, the axial degrees of freedom at the corresponding hinges can be released, so that the corresponding components can have a little play at their hinges, ensuring the normal operation of the spherical motor. The calculation content of the degrees of freedom mentioned above also proves that this spherical motor can achieve specific controllable motions.

[0041] Exemplarily, on both sides of the first rotor bracket 31, first arc-shaped guide rails 33 are respectively arranged along its outer periphery. The first arc-shaped guide rails 33 are fixedly connected to the first rotor bracket 31. On both sides of the first stator bracket 21, first pulleys 23 are respectively arranged. The first pulleys 23 can relatively roll on the corresponding first arc-shaped guide rails 33, which helps the first rotor bracket 31 to rotate around its own axis. The arrangement of the first pulleys 23 can also ensure that there is a gap between the first permanent magnet array 32 and the first stator bracket 21, preventing the two from being adsorbed and fixed together, which may affect the normal operation. In addition, a first groove for cooperating with the first arc-shaped guide rail 33 is arranged on the side of the first pulley 23, which can prevent the first arc-shaped guide rail 33 from shifting; on both sides of the second rotor bracket 51, second arc-shaped guide rails 53 are respectively arranged along its outer periphery. The second arc-shaped guide rails 53 are fixedly connected to the second rotor bracket 51. On both sides of the second stator bracket 41, second pulleys 43 are respectively arranged. The second pulleys 43 can relatively roll on the corresponding second arc-shaped guide rails 53, which helps the second rotor bracket 51 to rotate around its own axis. The arrangement of the second pulleys 43 can also ensure that there is a gap between the second permanent magnet array 52 and the second stator bracket 41. A second groove for cooperating with the second arc-shaped guide rail 53 is arranged on the side of the second pulley 43, which can prevent the second arc-shaped guide rail 53 from shifting.

[0042] Exemplarily, a first positioning groove 331 is formed between two first arc-shaped guide rails 33 on the first rotor bracket 31. A first connection frame 24 is provided on the first stator bracket 21 along the outer periphery of its corresponding first rotor bracket 31. The first connection frame 24 cooperates with its corresponding first positioning groove 331. Specifically, the first connection frame 24 is disposed within the first positioning groove 331. One side of the first connection frame 24 is connected to one side of the first positioning groove 331, and the other side of the first connection frame 24 is connected to the other side of the first positioning groove 331. The first connection frame 24 is fixedly connected to the first stator bracket 21. When the first rotor bracket 31 rotates around its own axis, the first connection frame 24 remains stationary, and the first arc-shaped guide rail 33 moves relative to the first connection frame 24 around the axis of the first rotor bracket 31, and the first connection frame 24 and the first positioning groove 331 remain in cooperation; when the first connection frame 24 rotates around the X-axis following the first stator bracket 21, due to the cooperation between the first connection frame 24 and the first positioning groove 331, it can ensure that the first rotor bracket 31 rotates around the X-axis following the first stator bracket 21, preventing misalignment between the first stator bracket 21 and the first rotor bracket 31; it can be understood that the setting of the first connection frame 24 does not affect the normal operation of the first winding 22 and the first permanent magnet array 32. In this embodiment, the first connection frame 24 includes two oppositely arranged first connection bars, and the two first connection bars are respectively fixedly connected to both sides of the first stator bracket 21, and the first connection bars are arranged in an arc shape along the outer periphery of its corresponding first rotor bracket 31; a second positioning groove 531 is formed between two second arc-shaped guide rails 53 on the second rotor bracket 51. A second connection frame 44 is provided on the second stator bracket 41 along the outer periphery of its corresponding second rotor bracket 51. The second connection frame 44 is fixedly connected to the second stator bracket 41. The second connection frame 44 cooperates with its corresponding second positioning groove 531. The second arc-shaped guide rail 53 can move relative to the second connection frame 44 around the axis of the second rotor bracket 51. When the second stator bracket 41 rotates around the Y-axis, due to the cooperation between the second connection frame 44 and the second positioning groove 531, it can ensure that the second rotor bracket 51 rotates around the Y-axis following the second stator bracket 41, thereby preventing misalignment between the second stator bracket 41 and the second rotor bracket 51; it can be understood that the setting of the second connection frame 44 does not affect the normal operation of the second winding 42 and the second permanent magnet array 52. In this embodiment, the second connection frame 44 includes two oppositely arranged second connection bars, and the two second connection bars are respectively fixedly connected to both sides of the second stator bracket 41, and the second connection bars are arranged in an arc shape along the outer periphery of its corresponding second rotor bracket 51.

[0043] Exemplarily, the tops of the two first connection frames 24 are connected, and the bottoms of the two first connection frames 24 are connected to form a first connection ring 241, that is, the first connection ring 241 and the two first stator brackets 21 are integrated, so as to ensure the consistency of the rotation of the two first stator brackets 21; the tops of the two second connection frames 44 are connected, and the bottoms of the second connection frames 44 are connected to form a second connection ring 441, that is, the second connection ring 441 and the two second stator brackets 41 are integrated, so as to ensure the consistency of the rotation of the two second stator brackets 41; the top of the first connection ring 241 overlaps with the top of the second connection ring 441, and the bottom of the first connection ring 241 overlaps with the bottom of the second connection ring 441. In this embodiment, the diameter of the first connection ring 241 is greater than the diameter of the second connection ring 441. The top of the first connection ring 241 is above the top of the second connection ring 441, and the bottom of the first connection ring 241 is below the bottom of the second connection ring 441. The top end of the output shaft 61 passes through the top of the first connection ring 241 and the top of the second connection ring 441, which will not affect the self-rotation of the output shaft 61 and is convenient for connecting the output shaft 61 with the driven component.

[0044] Exemplarily, a first magnetic encoder for detecting the rotation position of the first stator bracket 21 is provided at the rotation connection of the first stator bracket 21 and the base 1, and a second magnetic encoder for detecting the rotation position of the second stator bracket 41 is provided at the rotation connection of the second stator bracket 41 and the base 1. The rotation positions of the first rotor bracket 31 and the self-rotation motor 6 (around the X axis) can be determined by the first magnetic encoder, and the rotation positions of the second rotor bracket 51 and the self-rotation motor 6 (around the Y axis) can be determined by the second magnetic encoder, so as to determine the position of the output shaft 61.

[0045] Exemplarily, the base 1 is provided with a connection ring 11. The connection ring 11 is provided with a first connection block 12 and a second connection block 13. There are two first connection blocks 12 and they are arranged opposite to each other along the X axis direction. The first stator bracket 21 is rotationally connected to the first connection block 12 through the X axis, and the first stator bracket 21 can slide relative to the first connection block 12 along the X axis direction. The two first connection blocks 12 are connected to the two first stator brackets 21 in one-to-one correspondence. There are two second connection blocks 13 and they are arranged opposite to each other along the Y axis direction. The second stator bracket 41 is rotationally connected to the second connection block 13 through the Y axis, and the second stator bracket 41 can slide relative to the second connection block 13 along the Y axis direction. The two second connection blocks 13 are connected to the two second stator brackets 41 in one-to-one correspondence, which is convenient for installation.

[0046] Exemplarily, the first winding 22 includes a plurality of first winding units 221 that are distributed in an arc around the axis of the first rotor bracket 31, and there is a spacing between two adjacent first winding units 221, that is, the first winding 22 is divided into multiple segments (in this embodiment, the first winding 22 is divided into three segments, that is, it includes three first winding units 221), which is beneficial to weakening the tilting positioning torque caused by the end effect. The radian of the arc where the multiple first winding units 221 are located is smaller than the radian of the first rotor bracket 31. When the first rotor bracket 31 rotates around its own axis, it can ensure that the first winding 22 corresponds to the first permanent magnet array 32. Similarly, the second winding 42 includes a plurality of second winding units 421 that are distributed in an arc around the axis of the second rotor bracket 51, and there is a spacing between two adjacent second winding units 421. The radian of the arc where the multiple second winding units 421 are located is smaller than the radian of the second rotor bracket 51.

[0047] Exemplarily, the rotor of the self-rotating motor 6 is connected to the output shaft 61 through an elastic shaft clamp 63, which facilitates the disassembly and assembly of the output shaft 61 and is convenient for replacement according to the actual use working conditions.

[0048] Exemplarily, a first connecting shaft 211 arranged along the X-axis is provided on the outer side of the first stator bracket 21. A first bearing 14 that cooperates with the first connecting shaft 211 is provided on the base 1. The first bearing 14 is slidably connected to the base 1, that is, the first bearing 14 can slide relative to the base 1 along the X-axis direction. The first connecting shaft 211 is rotatably connected to the base 1 through the first bearing 14, and the first bearing 14 is fixedly connected to the first connecting shaft 211, so that the first bearing 14 and the first connecting shaft 211 can slide together to realize the connection between the first stator bracket 21 and the base 1. A second connecting shaft 411 arranged along the Y-axis is provided on the outer side of the second stator bracket 41. A second bearing 15 that cooperates with the second connecting shaft 411 is provided on the base 1. The second bearing 15 is slidably connected to the base 1, that is, the second bearing 15 can slide relative to the base 1 along the Y-axis direction. The second connecting shaft 411 is rotatably connected to the base 1 through the second bearing 15, and the second bearing 15 is fixedly connected to the second connecting shaft 411, so that the second bearing 15 and the second connecting shaft 411 can slide together to realize the connection between the second stator bracket 41 and the base 1.

[0049] Exemplarily, third connecting shafts 621 coaxial with the output shaft 61 are respectively provided at the top and bottom of the housing 62. A third bearing 71 is slidably connected to the third connecting shaft 621. The third bearing 71 is installed in the inner hole of the connecting sleeve 7. The connecting sleeve 7 is rotatably connected to the third connecting shaft 621 through the third bearing 71, and the third bearing 71 is fixedly connected to the connecting sleeve 7, that is, the two can slide together relative to the housing 62 along the axis of the output shaft 61 to realize the connection between the connecting sleeve 7 and the housing 62.

[0050] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A three-degree-of-freedom spherical motor, characterized in that: It includes a base, a first tilted stator, a first tilted rotor, a second tilted stator, a second tilted rotor and a self-rotating motor; The first tilted stator is provided with two and symmetrically arranged on both sides of the base, the first tilted stator includes a first stator bracket and a first winding, the first stator bracket is rotatably connected to the base through an X-axis, and the first stator bracket can slide relative to the base along the X-axis direction, the first winding is installed on the inner side of the first stator bracket, the inner side of the first winding is provided with the first tilted rotor, the first tilted rotor includes a first rotor bracket and a first permanent magnet array, the first rotor bracket is in an arc shape, one of the radial extension lines of the first rotor bracket coincides with the X-axis, the first permanent magnet array is installed on the outer side of the first rotor bracket and arranged along the outer periphery of the first rotor bracket, the first permanent magnet array corresponds to the first winding, and when the first winding is energized, the first tilted rotor rotates around the axis of the first rotor bracket; The second tilted stator is provided with two and symmetrically arranged on both sides of the base, the second tilted stator includes a second stator bracket and a second winding, the second stator bracket is rotatably connected to the base through the Y axis, and the second stator bracket can slide relative to the base along the Y axis direction, the second winding is installed on the inner side of the second stator bracket, the inner side of the second winding is provided with a second tilted rotor, the second tilted rotor includes a second rotor bracket and a second permanent magnet array, the second rotor bracket is in an arc shape, one of the radial extension lines of the second rotor bracket coincides with the Y axis, the second permanent magnet array is installed on the outer side of the second rotor bracket and arranged along the outer circumference of the second rotor bracket, the second permanent magnet array corresponds to the second winding, and when the second winding is energized, the second tilted rotor rotates around the axis of the second rotor bracket; The self-rotating motor includes an output shaft and a casing, the axis of the output shaft, the axis of the first rotor bracket and the axis of the second rotor bracket intersect at an origin, the output shaft extends from the top of the casing, the casing is arranged on the inner side of the first rotor bracket and the inner side of the second rotor bracket, the top of the casing is fixedly connected to the top end of the second rotor bracket, the bottom of the casing is fixedly connected to the bottom end of the second rotor bracket, the top and bottom of the casing are respectively provided with connecting sleeves coaxially arranged with the output shaft, the connecting sleeve can rotate around the axis of the output shaft relative to the casing and can slide along the axial direction of the output shaft relative to the casing, the connecting sleeve located at the top of the casing is fixedly connected to the top end of the first rotor bracket, and the connecting sleeve located at the bottom of the casing is fixedly connected to the bottom end of the first rotor bracket.

2. The three-degree-of-freedom spherical motor according to claim 1, characterized in that: The first rotor bracket is provided with first arc guide rails along its outer circumference on both sides, and the first stator bracket is provided with first pulleys on both sides, and the first pulleys can roll relatively on the first arc guide rails corresponding thereto; the second rotor bracket is provided with second arc guide rails along its outer circumference on both sides, and the second stator bracket is provided with second pulleys on both sides, and the second pulleys can roll relatively on the second arc guide rails corresponding thereto.

3. The three-degree-of-freedom spherical motor according to claim 2, characterized in that: A first positioning groove is formed between the two first arc guide rails on the first rotor bracket, and the first stator bracket is provided with a first connecting frame arranged along the outer circumference of the corresponding first rotor bracket, and the first connecting frame cooperates with the corresponding first positioning groove; a second positioning groove is formed between the two second arc guide rails on the second rotor bracket, and the second stator bracket is provided with a second connecting frame arranged along the outer circumference of the corresponding second rotor bracket, and the second connecting frame cooperates with the corresponding second positioning groove.

4. The three-degree-of-freedom spherical motor according to claim 3, characterized in that: The top ends of the two first connection frames are connected, and the bottom ends of the two first connection frames are connected to form a first connection ring; The top ends of the two second connecting frames are connected, and the bottom ends of the second connecting frames are connected to form a second connecting ring; the top of the first connecting ring overlaps with the top of the second connecting ring, and the bottom of the first connecting ring overlaps with the bottom of the second connecting ring, and the top of the output shaft passes through the top of the first connecting ring and the top of the second connecting ring.

5. The three-degree-of-freedom spherical motor according to claim 1, characterized in that: A first magnetic encoder for detecting the rotational position of the first stator bracket is provided at the rotational connection between the first stator bracket and the base, and a second magnetic encoder for detecting the rotational position of the second stator bracket is provided at the rotational connection between the second stator bracket and the base.

6. The three-degree-of-freedom spherical motor according to claim 1, characterized in that: The base is provided with a connecting ring, and the connecting ring is provided with a first connecting block and a second connecting block. The first connecting blocks are provided with two and are arranged opposite to each other along the direction of the X-axis. The first stator bracket is rotatably connected to the first connecting block via the X-axis, and the first stator bracket can slide relative to the first connecting block along the X-axis direction. The second connecting blocks are provided with two and are arranged opposite to each other along the direction of the Y-axis. The second stator bracket is rotatably connected to the second connecting block via the Y-axis, and the second stator bracket can slide relative to the second connecting block along the Y-axis direction.

7. The three-degree-of-freedom spherical motor according to claim 1, characterized in that: The first winding includes a plurality of first winding units distributed in a circular arc around the axis of the first rotor support, and the curvature of the arc where the plurality of first winding units are located is smaller than the curvature of the first rotor support; the second winding includes a plurality of second winding units distributed in a circular arc around the axis of the second rotor support, and the curvature of the arc where the plurality of second winding units are located is smaller than the curvature of the second rotor support.

8. The three-degree-of-freedom spherical motor according to claim 1, characterized in that: The rotor of the self-rotating motor is connected to the output shaft through an elastic shaft clamp.

9. The three-degree-of-freedom spherical motor according to claim 1, characterized in that: A first connecting shaft arranged along the X-axis is provided on the outer side of the first stator bracket, a first bearing matched with the first connecting shaft is provided on the base, and the first bearing is slidably connected to the base; a second connecting shaft arranged along the Y-axis is provided on the outer side of the second stator bracket, a second bearing matched with the second connecting shaft is provided on the base, and the second bearing is slidably connected to the base.

10. The three-degree-of-freedom spherical motor according to claim 1, characterized in that: A third connecting shaft coaxially arranged with the output shaft is respectively disposed on the top and the bottom of the housing, and a third bearing is slidably connected to the third connecting shaft, and the third bearing is installed in the inner hole of the connecting sleeve.

Images