Permanent magnet spherical actuator based on multi-dimensional space winding

Abstract

The application discloses a permanent magnet spherical driver based on a multi-dimensional space winding, which arranges a magnetic pole array, a spin winding and an inclined winding in a same spherical shell, and arranges the spin winding and the inclined winding on the inner and outer sides of the magnetic pole array respectively, fully utilizes the internal space of the spherical shell, effectively increases the winding number, greatly improves the magnetic field utilization rate through reasonable magnetic pole arrangement optimization, and provides the possibility of multiplying the output torque of the spherical driver under the same volume; the magnetic pole array is a common magnetic pole array, can change the original magnetic leakage into treasure, further improves the magnetic field utilization rate, and greatly enhances the output torque; in addition, the spin winding after being electrified and the internal magnetic field of the magnetic pole array interact to generate a spin torque, the inclined winding after being electrified and the external magnetic field of the magnetic pole array interact to generate an inclined torque, that is, the spin torque and the inclined torque are separated to act, mutual influences are avoided, and the coupling is eliminated from the mechanical configuration.

Description

Technical Field

[0001] This invention belongs to the field of motor technology, specifically relating to a permanent magnet spherical driver based on multi-dimensional space windings. Background Technology

[0002] Actuators, acting as the "muscles" of a robot, play a crucial role in posture control. To maximize a robot's working range and efficiency, the drive system is often required to achieve multi-degree-of-freedom rotational motion in three-dimensional space. Traditional designs connect multiple single-degree-of-freedom actuators and related connectors in series or parallel. However, this single-degree-of-freedom actuator-based approach has several inherent drawbacks, such as large size, backlash error, cumbersome motion, and singularities within the workspace. Furthermore, the weight of the numerous actuators and linkages adds an extra burden to the system, inevitably increasing power loss—a major problem with current traditional drive systems.

[0003] In modern industrial production, to maximize the working range and efficiency of automated equipment such as robots, mechanisms are often required to achieve multi-degree-of-freedom rotational motion in three-dimensional space. Traditional solutions combine multiple single-axis actuators and numerous links in series or parallel. However, this approach has inherent drawbacks, such as large size, poor dynamic characteristics, and severe error accumulation. Furthermore, the weight of the numerous actuators and links also reduces the system's efficiency.

[0004] Spherical actuators can overcome the shortcomings of traditional multi-degree-of-freedom motion mechanisms achieved through series and parallel connections. However, the structural designs of existing spherical actuators are very similar, namely, a uniformly distributed array of permanent magnet poles is installed on the rotor surface, and the spatial magnetic field excited by it interacts with the coils fixed on the stator surface, thereby generating a three-dimensional torque vector.

[0005] However, traditional ball actuators generally have the following disadvantages:

[0006] First, the output torque is too low: Most traditional spherical drive structures are designed with permanent magnet poles and energized windings arranged in a spherical layout, i.e., a two-dimensional distribution, to generate a three-dimensional torque vector through their interaction. However, this winding arrangement completely wastes the internal space of the rotor, resulting in low space utilization and severely limiting the increase in torque.

[0007] Secondly, there is severe coupling in motion in all directions: In traditional ball actuators, when the rotor generates a self-rotating torque under the action of some coils, it will inevitably affect the torque in the tilting direction, and vice versa. Therefore, there is strong coupling in multi-degree-of-freedom motion. Summary of the Invention

[0008] The problem to be solved by the present invention is to provide a permanent magnet spherical driver based on multi-dimensional spatial winding, which can effectively improve the magnetic field utilization rate and thus improve the output torque.

[0009] To solve the above-mentioned technical problems, the present invention provides a permanent magnet spherical driver based on multi-dimensional space winding, which includes a base, a spherical shell, a stator part and a rotor part. The stator part and the rotor part are both disposed inside the spherical shell, and the north and south ends of the spherical shell are provided with openings. The base is disposed outside the south end of the spherical shell.

[0010] The stator includes a magnetic pole array and a magnetic pole support. The magnetic pole array is fixedly connected to the spherical shell through the magnetic pole support. The magnetic pole array is provided in multiple groups, and the multiple groups of magnetic pole arrays are distributed at equal intervals along the equatorial circumference of the spherical shell. Each magnetic pole of the magnetic pole array is arranged in an arc shape along the meridian of the spherical shell. The magnetic field generated by the magnetic pole array is divided into an external magnetic field facing the side of the spherical shell and an internal magnetic field facing away from the side of the spherical shell.

[0011] The rotor section includes an inclined winding, a spin winding, a first winding support, a second winding support, a central shaft, a universal joint, and ball bearings. The central shaft is coaxial with the earth axis of the spherical shell, and one end of the central shaft is fixedly connected to the first shaft of the universal joint. The second shaft of the universal joint is an output shaft and extends from the opening at the north end of the spherical shell. The other end of the central shaft extends from the opening at the south end of the spherical shell and is rotatably connected to the base around its own axis. The spin winding is fixedly connected to the central shaft through the second winding support, and the coils of the spin winding are equidistant along the equatorial circumference of the spherical shell. The magnetic pole array is distributed at intervals and located on the side opposite to the spherical shell; multiple sets of inclined windings are provided, and the multiple sets of inclined windings are distributed at equal intervals along the equatorial circumference of the spherical shell. The inclined windings are movably arranged between the spherical shell and the magnetic pole array along the meridian of the spherical shell, and the inclined windings are opposite to the magnetic pole array one by one; each set of inclined windings is fixed by a first winding support, the first winding support is arc-shaped and arranged along the meridian of the spherical shell, one end of the first winding support is rotatably connected to the second shaft of the cross shaft universal joint through the ball bearing, and the other end of the first winding support is disposed away from the central shaft.

[0012] As a preferred embodiment of the present invention, both the magnetic pole array and the tilted winding are provided with 8 groups, and the spin winding is provided with 9 groups of coils.

[0013] As a preferred embodiment of the present invention, the inclined winding is a multiphase winding.

[0014] As a preferred embodiment of the present invention, each magnetic pole of the magnetic pole array is radially magnetized, the magnetization directions of two adjacent magnetic poles in the same group of the magnetic pole arrays are opposite, and the magnetization directions of two magnetic poles on the same latitude in two adjacent groups of the magnetic pole arrays are opposite.

[0015] As a preferred embodiment of the present invention, the first winding bracket is provided with a groove on the side facing the spherical shell. The groove is arc-shaped and arranged along the meridian of the spherical shell. A plurality of bullseye bearings are installed on the inner side of the spherical shell, and the groove is in rolling engagement with at least two of the bullseye bearings.

[0016] As a preferred embodiment of the present invention, the base is provided with a sleeve for inserting the central shaft, and an axial limiting structure is provided between the central shaft and the sleeve to limit the axial movement of the central shaft relative to the sleeve.

[0017] As a preferred embodiment of the present invention, the sleeve extends into the interior of the spherical shell from the opening at the south end of the spherical shell, and the sleeve is disposed separately from the first winding support.

[0018] As a preferred embodiment of the present invention, each of the first winding supports forms a circle on the south end side near the spherical shell and is connected and fixed together by a fixing ring, wherein the inner diameter of the fixing ring is larger than the outer diameter of the sleeve.

[0019] As a preferred embodiment of the present invention, the base, the spherical shell, the central shaft, and the universal joint are all made of non-magnetic materials.

[0020] The permanent magnet spherical driver based on multi-dimensional space windings, which implements the embodiments of the present invention, has the following advantages compared with the prior art:

[0021] This invention considers the distribution of windings and magnetic poles from a multi-dimensional spatial perspective. The magnetic pole array, spin winding, and tilt winding are all housed within the same spherical shell, with the spin winding and tilt winding positioned on the inner and outer sides of the magnetic pole array, respectively. This fully utilizes the internal space of the shell, effectively increasing the number of windings and significantly improving magnetic field utilization through optimized magnetic pole arrangement. This provides the possibility of multiplying the output torque of the spherical actuator within the same volume. Furthermore, the shared magnetic pole array effectively utilizes existing leakage magnetic flux, further enhancing magnetic field utilization and significantly increasing output torque. Additionally, the energized spin winding interacts with the internal magnetic field of the magnetic pole array to generate spin torque, while the energized tilt winding interacts with the external magnetic field of the magnetic pole array to generate tilt torque. This separates the spin torque and tilt torque, preventing mutual interference and eliminating coupling in the mechanical configuration. This torque decoupling method separates the three-dimensional magnetic field from the corresponding system structure, fundamentally different from traditional algorithmic decoupling and possessing greater practicality.

[0022] As can be seen, this invention proposes a novel design concept of a shared magnetic pole array based on the working mechanism of a multi-degree-of-freedom spherical driving magnetic field, which can effectively improve the magnetic field utilization rate and thus improve the output torque. Based on this, starting from the essence of spatial mechanism decoupling, a multi-dimensional spatial winding scheme is innovatively proposed, which can effectively realize the separation of rotation and tilting torque, creating favorable conditions for high-precision attitude control. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0024] Figure 1 This is an isometric view of a permanent magnet spherical driver based on multidimensional space windings according to an embodiment of the present invention;

[0025] Figure 2 This is an isometric view of the permanent magnet spherical driver based on multi-dimensional space windings according to an embodiment of the present invention, with the spherical shell hidden.

[0026] Figure 3 This is a three-dimensional cross-sectional view of the permanent magnet spherical driver based on multi-dimensional space windings according to an embodiment of the present invention, after the spherical shell is hidden.

[0027] Figure 4 This is a front view of a permanent magnet spherical driver based on multi-dimensional space windings according to an embodiment of the present invention;

[0028] Figure 5 It is at Figure 4 The cross-sectional view along direction AA in the structure shown.

[0029] Marked in the image:

[0030] Base 1; Sleeve 11; Axial limiting structure 12;

[0031] 2. Spherical shell; 21. Opening;

[0032] Stator section 3; Magnetic pole array 31; Magnetic pole support 32;

[0033] Rotor section 4; Inclined winding 41; Spin winding 42; First winding support 43; Slide groove 431; Second winding support 44; Central shaft 45; Cross shaft universal joint 46; First shaft 461; Second shaft 462; Ball bearing 47; Retaining ring 48;

[0034] Bullseye bearing 5. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., used to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] like Figures 1 to 5 As shown, this is a preferred embodiment of the present invention.

[0038] The permanent magnet spherical actuator based on multidimensional space winding includes a base 1, a spherical shell 2, a stator part 3, and a rotor part 4. The stator part 3 and the rotor part 4 are both disposed inside the spherical shell 2. The north and south ends of the spherical shell 2 are provided with openings 21. The base 1 is disposed outside the south end of the spherical shell 2. The base 1 is usually installed on the robotic arm or other support structure by bolts, welding or other fixing methods to ensure the robustness of the system.

[0039] The stator part 3 includes a magnetic pole array 31 and a magnetic pole support 32. The magnetic pole array 31 is fixedly connected to the spherical shell 2 through the magnetic pole support 32. The magnetic pole array 31 is provided in multiple groups, and the multiple groups of magnetic pole array 31 are distributed at equal intervals along the equatorial circumference of the spherical shell 2. Each magnetic pole of the magnetic pole array 31 is arranged in an arc shape along the meridian of the spherical shell 2. The magnetic field generated by the magnetic pole array 31 is divided into an external magnetic field facing the side of the spherical shell 2 and an internal magnetic field away from the side of the spherical shell 2.

[0040] The rotor section 4 includes an inclined winding 41, a spin winding 42, a first winding support 43, a second winding support 44, a central shaft 45, a universal joint 46, and a ball bearing 47. The central shaft 45 is coaxial with the ground axis of the spherical shell 2, and one end of the central shaft 45 is fixedly connected to the first shaft 461 of the universal joint 46. The second shaft 462 of the universal joint 46 is an output shaft and extends from the opening 21 at the north end of the spherical shell 2. The other end of the central shaft 45 extends from the opening 21 at the south end of the spherical shell 2 and is rotatably connected to the base 1 about its own axis. The spin winding 42 is fixedly connected to the central shaft 45 through the second winding support 44, and each coil of the spin winding 42 is along the equatorial circumference of the spherical shell 2. The lines are evenly spaced and located on the side of the magnetic pole array 31 away from the spherical shell 2; multiple sets of inclined windings 41 are provided, and the multiple sets of inclined windings 41 are evenly spaced along the equatorial circumference of the spherical shell 2. The inclined windings 41 are movably arranged between the spherical shell 2 and the magnetic pole array 31 along the meridian of the spherical shell 2, and the inclined windings 41 and the magnetic pole array 31 are opposite to each other; each set of inclined windings 41 is fixed by a first winding support 43. The first winding support 43 is arc-shaped and arranged along the meridian of the spherical shell 2. One end of the first winding support 43 is rotatably connected to the second shaft 462 of the cross shaft universal joint 46 through the ball bearing 47, and the other end of the first winding support 43 is disposed away from the central shaft 45.

[0041] It is understandable that the rotor includes the following forms of motion:

[0042] Two inclined windings 41, which are energized and form a 180-degree angle with each other, interact with the external magnetic field of the magnetic pole array 31 to generate an inclined torque. This inclined torque can drive the inclined windings 41 and the first winding support 43 to tilt around the axis passing through the center of the sphere. This axis passing through the center of the sphere 2 is perpendicular to the plane containing the meridians of the two inclined windings 41, which are energized and form a 180-degree angle with each other. Since one end of the first winding support 43 is connected to the second shaft 462 (i.e., the output shaft) of the universal joint 46 via a ball bearing 47, the first winding support 43 can tilt the output shaft relative to the central shaft 45 when it tilts. Furthermore, the separation of the first winding support 43 from the central shaft 45 ensures that the two do not interfere with each other when the first winding support 43 tilts and rotates relative to the central shaft 45.

[0043] When energized, the spin winding 42 interacts with the external magnetic field of the magnetic pole array 31 to generate a spin torque. This spin torque can drive the spin winding 42 and the second winding support 44 to rotate around the central axis 45. Since the second winding support 44 is fixedly connected to the central axis 45, the rotation of the second winding support 44 can drive the central axis 45 to rotate and transmit the rotational power outward through the universal joint 46.

[0044] Therefore, according to the embodiments of the present invention, the permanent magnet spherical actuator based on multi-dimensional space windings considers the distribution of its windings and magnetic poles from a multi-dimensional space perspective. Specifically, the magnetic pole array 31, the spin winding 42, and the tilted winding 41 are all housed within the same spherical shell 2, with the spin winding 42 and the tilted winding 41 positioned on the inner and outer sides of the magnetic pole array 31, respectively. This fully utilizes the internal space of the spherical shell 2, effectively increasing the number of windings and significantly improving magnetic field utilization through optimized magnetic pole arrangement. This provides the possibility of increasing the output torque of the spherical actuator by a factor of two within the same volume. Furthermore, the magnetic pole array... Column 31 is a shared magnetic pole array 31, which can turn the original leakage magnetic field into a valuable resource, thereby improving the magnetic field utilization rate and greatly enhancing the output torque. Furthermore, the energized spin winding 42 interacts with the internal magnetic field of the magnetic pole array 31 to generate a spin torque, and the energized tilt winding 41 interacts with the external magnetic field of the magnetic pole array 31 to generate a tilt torque. In other words, the spin torque and the tilt torque act separately to avoid mutual interference. This eliminates coupling from a mechanical configuration perspective. This torque decoupling method separates the three-dimensional magnetic field and the corresponding system structure, which is fundamentally different from traditional algorithm decoupling and has stronger practicality.

[0045] For example, the magnetic pole array 31 and the tilted winding 41 each have 8 sets, and the spin winding 42 has 9 sets of coils. Thus, by rationally designing the number and layout of the magnetic pole array 31, the tilted winding 41, and the spin winding 42, the optimal matching between the windings and the magnetic poles is ensured, enabling precise control of the magnetic field and electromagnetic induction, and achieving efficient and stable electromagnetic drive performance.

[0046] For example, the tilting winding 41 is a multi-phase winding, specifically three-phase, five-phase, and double three-phase. The more phases there are, the greater the output torque, but the range of smooth deflection will be reduced accordingly.

[0047] For example, in order to make the magnetic field distribution on the surface of the magnetic pole array 31 uniform, each magnetic pole of the magnetic pole array 31 is radially magnetized (i.e. pointing towards the center of the spherical shell 2 or away from the center of the spherical shell 2). The magnetization directions of two adjacent magnetic poles in the same group of magnetic pole arrays 31 are opposite, and the magnetization directions of two magnetic poles on the same latitude in two adjacent groups of magnetic pole arrays 31 are opposite.

[0048] For example, the first winding support 43 has a groove 431 on the side facing the spherical shell 2. The groove 431 is arc-shaped and arranged along the meridian of the spherical shell 2. A plurality of bullseye bearings 5 ​​are installed on the inner surface of the spherical shell 2, and the groove 431 rolls into contact with at least two of the bullseye bearings 5. The bullseye bearings 5 ​​support the rotation of the first winding support 43. At the same time, the cooperation between the bullseye bearings 5 ​​and the groove 431 ensures that the first winding support 43 can only rotate along the meridian of the spherical shell 2, ensuring that the inclined winding 41 and the magnetic pole array 31 always maintain a preset spatial relationship, thereby improving the performance and reliability of the equipment.

[0049] For example, the base 1 is provided with a sleeve 11 into which the central shaft 45 can be inserted, so that an axial limiting structure 12 is provided between the central shaft 45 and the sleeve 11 to restrict the axial movement of the central shaft 45 relative to the sleeve 11, so that the central shaft 45 can only rotate relative to the sleeve 11. Further, the sleeve 11 extends into the interior of the spherical shell 2 from the opening 21 at the south end of the spherical shell 2, thereby increasing the length of the mating section between the sleeve 11 and the central shaft 45 and improving the connection strength between them. Furthermore, the sleeve 11 is disposed separately from the first winding support 43 so that the first winding support 43 will not interfere with the sleeve 11 when it tilts and rotates relative to the central shaft 45.

[0050] For example, each of the first winding supports 43 forms a circle near the south end of the spherical shell 2 and is connected and fixed together by a fixing ring 48, so that the first winding supports 43 together form an integral spherical frame. Furthermore, the inner diameter of the fixing ring 48 is larger than the outer diameter of the sleeve 11, so that the sleeve 11 is separated from the inner diameter of the fixing ring, ensuring that the two do not interfere with each other.

[0051] For example, the base 1, the spherical shell 2, the central shaft 45 and the universal joint 46 are all made of non-magnetic materials to prevent the magnetic field from spreading outward, thereby reducing magnetic leakage and helping to reduce iron loss.

[0052] In summary, this invention proposes a novel design for a shared magnetic pole array 31 based on the mechanism of multi-degree-of-freedom spherical driving magnetic field, which can effectively improve the magnetic field utilization rate and thus increase the output torque. Based on this, starting from the essence of spatial mechanism decoupling, a multi-dimensional spatial winding scheme is innovatively proposed, which can effectively separate the rotation and tilting torques, creating favorable conditions for high-precision attitude control.

[0053] In the description of this invention, it should be understood that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A permanent magnet spherical actuator based on multi-dimensional space windings, characterized in that, It includes a base, a spherical shell, a stator section, and a rotor section. The stator section and the rotor section are both disposed inside the spherical shell, and the spherical shell has openings at both its north and south ends. The base is disposed outside the south end of the spherical shell. The stator includes a magnetic pole array and a magnetic pole support. The magnetic pole array is fixedly connected to the spherical shell through the magnetic pole support. The magnetic pole array is provided in multiple groups, and the multiple groups of magnetic pole arrays are distributed at equal intervals along the equatorial circumference of the spherical shell. Each magnetic pole of the magnetic pole array is arranged in an arc shape along the meridian of the spherical shell. The magnetic field generated by the magnetic pole array is divided into an external magnetic field facing the side of the spherical shell and an internal magnetic field facing away from the side of the spherical shell. The rotor section includes an inclined winding, a spin winding, a first winding support, a second winding support, a central shaft, a universal joint, and ball bearings. The central shaft is coaxial with the earth axis of the spherical shell, and one end of the central shaft is fixedly connected to the first shaft of the universal joint. The second shaft of the universal joint is an output shaft and extends from the opening at the north end of the spherical shell. The other end of the central shaft extends from the opening at the south end of the spherical shell and is rotatably connected to the base around its own axis. The spin winding is fixedly connected to the central shaft through the second winding support, and the coils of the spin winding are equidistant along the equatorial circumference of the spherical shell. The magnetic pole array is distributed at intervals and located on the side opposite to the spherical shell; multiple sets of inclined windings are provided, and the multiple sets of inclined windings are distributed at equal intervals along the equatorial circumference of the spherical shell. The inclined windings are movably arranged between the spherical shell and the magnetic pole array along the meridian of the spherical shell, and the inclined windings are opposite to the magnetic pole array one by one; each set of inclined windings is fixed by a first winding support, the first winding support is arc-shaped and arranged along the meridian of the spherical shell, one end of the first winding support is rotatably connected to the second shaft of the cross shaft universal joint through the ball bearing, and the other end of the first winding support is disposed away from the central shaft.

2. The permanent magnet spherical actuator based on multidimensional space winding as described in claim 1, characterized in that: The magnetic pole array and the tilted winding each have 8 sets, and the spin winding has 9 sets of coils.

3. The permanent magnet spherical actuator based on multidimensional space winding as described in claim 1, characterized in that: The inclined winding is a multiphase winding.

4. The permanent magnet spherical actuator based on multi-dimensional space winding as described in claim 1, characterized in that: Each magnetic pole of the magnetic pole array is radially magnetized. The magnetization directions of two adjacent magnetic poles in the same group of magnetic pole arrays are opposite, and the magnetization directions of two magnetic poles on the same latitude in two adjacent groups of magnetic pole arrays are opposite.

5. The permanent magnet spherical actuator based on multidimensional space winding as described in claim 1, characterized in that: The first winding support has a groove on the side facing the spherical shell. The groove is arc-shaped and arranged along the meridian of the spherical shell. Multiple bullseye bearings are installed on the inner side of the spherical shell. The groove is in rolling engagement with at least two of the bullseye bearings.

6. The permanent magnet spherical actuator based on multidimensional space winding as described in claim 1, characterized in that: The base is provided with a sleeve for inserting the central shaft, and an axial limiting structure is provided between the central shaft and the sleeve to limit the axial movement of the central shaft relative to the sleeve.

7. The permanent magnet spherical actuator based on multidimensional space winding as described in claim 6, characterized in that: The sleeve extends into the interior of the spherical shell from the opening at the south end of the spherical shell, and the sleeve is disposed separately from the first winding support.

8. The permanent magnet spherical actuator based on multidimensional space winding as described in claim 7, characterized in that: Each of the first winding supports forms a circle near the south end of the spherical shell and is connected and fixed together by a fixing ring, the inner diameter of which is larger than the outer diameter of the sleeve.

9. The permanent magnet spherical actuator based on multidimensional space winding as described in claim 1, characterized in that: The base, the spherical shell, the central shaft, and the universal joint are all made of non-magnetic materials.

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