18 results about "Spherical motor" patented technology

The application discloses a kind of mechanical arm structures based on ball motor drive, it is related to mechanical arm technical field;Including mounting seat, mounting seat is equipped with spherical motor, motor shaft of spherical motor is equipped with first mechanical arm, one end of first mechanical arm is hinged with hinged seat, one side of hinged seat is equipped with joint motor, joint motor is used to control the angle change between first mechanical arm and hinged seat;One side of the hinged seat is equipped with second mechanical arm, and the second mechanical arm is installed with gripper mechanism at one end.The application can make the high degree of freedom flexible movement of mechanical arm by setting spherical motor, hinged seat and other structures, by setting traction assembly, connecting rope and other structures, each second gripper is controlled based on traction assembly, can better be gripped, since the connecting rope is connected, only short stroke is needed to switch between clamping and loosening, when loosening, the rapid opening of gripper can be realized based on the repulsive force of each magnetic block.

This invention discloses a method and device for detecting the attitude of a spherical motor rotor. The method includes: developing a feature plate with three different visual feature points (first, second, and third) and fixing it to the top of the rotor output shaft; developing a visual detection system for the spherical rotor attitude, wherein when the rotor output shaft is located on the Z-axis of the northeast-northeast coordinate system, an image acquisition module is installed directly above the second feature point and calibrated; collecting and labeling typical and atypical spatial motion image datasets of the spherical rotor with three degrees of freedom; designing and training a network model suitable for detecting the real-time attitude of the spherical rotor using the YOLOv5s framework; the image acquisition module acquiring a frame of image in real time, using the network model to detect the coordinates of the three different visual feature points in the image, and calculating the attitude of the spherical rotor based on the detected coordinates and the geometric relationship of the rotor's spherical motion. This invention solves the problems of needing to reset and failure to detect feature points due to long-term occlusion in visual spherical rotor detection.

The invention belongs to the field of multi-degree-of-freedom motors, and particularly relates to a multi-layer magnetic pole spherical motor with improved torque density, which comprises an outer rotor, a stator and an inner rotor, the outer rotor comprises an outer rotor spherical surface and an outer layer permanent magnet; the stator comprises a stator spherical surface, an electromagnetic coil and a stator base; the inner rotor comprises an inner rotor spherical surface, an inner-layer permanent magnet and a spherical joint bearing; the spherical surface of the inner rotor is connected with the spherical joint bearing through a middle platform; the middle platform is connected with the spherical surface of the outer rotor through a connecting shaft; the stator base is fixedly connected with the ball joint bearing through a rotor supporting shaft; the outer rotor spherical surface, the stator spherical surface and the inner rotor spherical surface are the same in sphere center position, the diameter of the inner rotor spherical surface is smaller than that of the stator spherical surface, the diameter of the stator spherical surface is smaller than that of the outer rotor spherical surface, and therefore the technical problem that in the prior art, a spherical motor is small in torque density is solved.

The invention discloses a dome-type vehicle-mounted flywheel energy storage device with strong anti-interference fault tolerance, low power consumption and high integration level, which comprises a dome-type flywheel rotor, an auxiliary rotating shaft is arranged through a sphere center, the lower end of the auxiliary rotating shaft is connected with a spherical motor, and a hemispherical shell, an axial suction disc, a spherical cylinder and a condensing device are sequentially arranged on the auxiliary rotating shaft; a first group of spherical radial torsion magnetic bearings are arranged on the outer side of the spherical motor, an annular axial magnetic bearing matched with the axial suction disc is arranged above the outer side of the spherical motor, and a second group of spherical radial torsion magnetic bearings are arranged above the outer side of the annular axial magnetic bearing; a spherical surface dislocation fault-tolerant magnetic bearing coaxial with the spherical surface cylinder is embedded in the second group of spherical surface radial torsion magnetic bearings; an auxiliary hub is arranged below the spherical motor, a lower-end Halbach permanent magnet is embedded in the upper end face of the auxiliary hub, and an upper-end Halbach permanent magnet is arranged above the lower-end Halbach permanent magnet. The anti-interference performance, the fault tolerance and the integration degree of the flywheel energy storage system are improved, and the power consumption of the system is reduced.

The present invention provides a spherical motor comprising a spherical rotor and a spherical shell stator. A plurality of stator teeth are divided into a first stator tooth group and a second stator tooth group symmetrical about the equatorial plane. Each stator tooth has a pole shoe at its free end, and the side of the pole shoe facing the spherical rotor is a spherical arc surface concentric with the outer spherical surface of the spherical rotor. The side of the stator tooth facing away from the equatorial plane is a first side surface, and the side of the stator tooth opposite any adjacent stator tooth is a second side surface. The intersection of the spherical arc surface and the first side surface is a circular arc line. The first side surface, the second side surface, and the spherical arc surface intersect at a first point. A straight line passing through the first point and tangent to the circular arc line is a tangent line. The acute angle formed by the tangent line and the second side surface is γ, with a range of 10°≤γ≤80°. The present invention can reduce the distortion rate and harmonic amplitude of the air gap magnetic flux, thereby reducing the torque pulsation and improving the torque output quality of the motor.

The invention discloses multi-nozzle cooperative plasma processing equipment for curved surface self-adaptive processing. The multi-nozzle cooperative plasma processing equipment comprises a box body, and a jet flow spray gun module, a camera shooting light source and a microscope camera which are mounted in the box body. An electric push rod is installed on the upper portion of a sleeve of the jet spray gun and connected with a variable-rigidity spherical motor, and the motor is hollow and used for containing pipelines needed by work of the spray gun, such as an insulating high-voltage cable, a gas circuit pipeline and a miniature brushless hollow motor cable. A spherical motor rotor flange is connected with a jet spray gun shell, a brushless hollow motor is embedded in the shell, and the brushless hollow motor is connected with a variable cross-section top cover in a variable cross-section channel and drives the variable cross-section top cover to rotate; rotating shafts are arranged above and below the blades in the variable-section channel, blade rotating shaft sliding groove holes are formed in the variable-section top cover, rotating shaft fixing holes are formed in the base, and the rotating angle is controlled through the brushless hollow motor to open and close the blades to control the size of the section of the airflow channel; the lower part of the base is provided with a hollow stud and connected with a small insulating ceramic; the upper part of the insulating ceramic is provided with threads; the upper part of the insulating ceramic is connected with the base; the lower part of the insulating ceramic is provided with a jet excitation electrode; rotary nozzles are mounted at the lower end of the shell; the jet spray gun body is wrapped by a compressible protective sleeve. When the plasma jet spray gun rotates, the deflection angle of + / -30 degrees can be adjusted, a larger-area and complex curved surface can be treated, the variable-section channel adjusts the airflow intensity of different nozzles, different required treatment effects in different areas are achieved, microscopic camera shooting is integrated, and the treatment result feedback closed-loop function is achieved.

The invention discloses a multi-degree-of-freedom spherical motor mechanism based on gear meshing transmission. The multi-degree-of-freedom spherical motor mechanism comprises a motor base, one or two pitching motors, one or two rolling motors, a cylindrical body with a main output shaft and two arched supporting frames. The outer sides of the two ends of the two arch-shaped supporting frames are fixedly connected with connecting shafts, the inner sides of at least one ends of the two arch-shaped supporting frames are correspondingly and fixedly connected with shells of the pitching motor and the rolling motor, and the two arch-shaped supporting frames are rotationally connected with the motor base through the connecting shafts. Output shafts of the pitching motor and the rolling motor are fixedly connected with gears; at least two arc-shaped racks are arranged on the cylindrical body; two adjacent arc-shaped racks are perpendicular to each other by planes determined by respective center arc lines and circle centers, and an output shaft gear of the pitching motor is correspondingly meshed and matched with one arc-shaped rack; an output shaft gear of the rolling motor is correspondingly meshed and matched with the other arc-shaped rack; the centers of the arch tops of the two arch-shaped supporting frames are both open, and the main output shaft on the cylindrical body extends out of the openings in the centers of the arch tops of the two arch-shaped supporting frames. The invention is easy to manufacture and assemble.

The invention provides a jellyfish-imitating vector propulsion underwater glider. The jellyfish-imitating vector propulsion underwater glider comprises a gliding module, a vector joint module and a bionic propulsion module, the vector joint module comprises a spherical motor and a flexible corrugated pipe shell, the spherical motor is arranged in the flexible corrugated pipe shell, and the top end of the flexible corrugated pipe shell is connected with the tail end of the gliding module; the bionic propelling module comprises a linear motor, a center supporting rod, an umbrella-shaped structure, an elastic framework, a skin and a nozzle, one end of the elastic framework is hinged to the tail end cabin wall of the vector joint module, the other end of the elastic framework is hinged to the nozzle, the skin covers the periphery of the elastic framework, and the nozzle is connected with the tail end of the skin and penetrates through the center supporting rod; the central supporting rod is arranged on the central axis of the umbrella-shaped structure, and the linear motor is connected with the umbrella-shaped structure and can move on the central supporting rod in a reciprocating mode. The jellyfish-imitating vector propulsion underwater glider provided by the invention not only keeps the characteristics of low noise and long voyage, but also has the advantages of good maneuverability and capability of accurately detecting and surveying underwater.

The invention relates to the technical field of spherical motors, in particular to a multi-degree-of-freedom three-phase brushless direct-current spherical motor and application thereof in robot joints. The multi-region concentrated magnetic field design is adopted, higher torque output is achieved in a limited space, the structure is compact, the torque density is high, three-degree-of-freedom movement can be achieved through a single motor, and the robot joint structure is greatly simplified. In addition, the magnetic field in the equatorial region is used for generating a torque component around the Z axis; the magnetic field in the south-north latitude and middle-latitude area is used for generating a torque component around the X axis or the Y axis. The inclination and rotation control magnetic field is decoupled in space, rotation and inclination can be regarded as two mutually independent models to be controlled when a control strategy is set, the control strategy is simplified, and the control strategy is clear. In addition, high movement rigidity and positioning precision are provided through four-point pre-tightening bearing supporting.

The invention discloses a multi-degree-of-freedom permanent magnet spherical motor for a wrist joint of a humanoid robot. The multi-degree-of-freedom permanent magnet spherical motor comprises a supporting seat; the spherical rotor comprises a hollow rotor spherical shell, a plurality of permanent magnets and a rotor connecting piece, and the polarities of any two adjacent permanent magnets are opposite; the output shaft is fixed on the rotor connecting piece and is movably connected to the supporting seat; the stator is arranged outside the spherical rotor in a surrounding mode, the stator comprises a plurality of stator connecting pieces, a plurality of stator tooth units and a plurality of winding coil units, each stator tooth unit is connected to two adjacent stator connecting pieces, each stator tooth unit comprises a plurality of stator teeth, and the winding coil units all face the permanent magnets; each winding coil unit comprises a plurality of winding coils, the winding coils are arranged on the stator teeth, and the plurality of stator connecting pieces are fixed on the supporting seat through connecting assemblies. The humanoid robot wrist joint is compact in size and large in output torque, and the self-rotating motion and the pitching motion of the humanoid robot wrist joint can meet the driving requirements of the humanoid robot wrist joint on general occasions.

The application discloses a kind of multi-degree-of-freedom spherical motor torque detection experimental device and method, belong to multi-degree-of-freedom spherical motor measurement technical field, including the base and bearing platform component placed in bottom layer, inner and outer ring component, XYZ three-axis mounting frame, XYZ three-axis drive sensing component;X-axis drive sensing component includes X-axis torque sensor, is installed in X-axis mounting frame, output shaft is connected with the first and second counterbore center point of inner ring component line assembly;Y-axis drive sensing component includes Y-axis torque sensor, is installed in Y-axis mounting frame;Z-axis drive sensing component includes Z-axis torque sensor, is installed in Z-axis mounting frame;XYZ three-axis torque sensor is respectively used to complete XYZ three-axis torque detection;Base is installed height adjustment seat, multi-degree-of-freedom spherical motor in turn, two ends are respectively installed two bearing platforms of bearing platform component.The application solves the problem that operation is complex and inefficient in manual positioning in contact torque detection method.

The application relates to a permanent-magnet spherical rotor position identification method based on compressed sensing, and a permanent-magnet spherical motor, which comprises a base, a spherical stator, a stator coil and a spherical rotor, the rotor surface is embedded with permanent-magnet magnetic poles, the magnetic poles are divided into two layers along the equator, each layer has four permanent-magnet magnetic poles, and N poles and S poles are alternately distributed; the rotor position is identified based on the radial magnetic field intensity information at the eighth-of-a-sphere air gap of the permanent-magnet spherical motor, and the identification comprises the following steps: first, determining the required number of sensors; second, determining the specific positions of the sensors; third, designing an observation matrix A in compressed sensing; fourth, identifying the rotor position of the permanent-magnet spherical motor, including data circle screening, magnetic pole center position calculation, magnetic pole position and rotor position conversion.

This invention discloses a two-degree-of-freedom spherical motor with a high deflection range. The motor includes a base with a hollow housing, two pairs of motor mechanisms, two arc-shaped guide rails, and an output device connected sequentially. The output shafts of each pair of motor mechanisms coincide. The output shafts of the two pairs of motor mechanisms extend outside the hollow housing and are rotatably connected to it. The output shafts of the two pairs of motor mechanisms intersect perpendicularly at the rotation center point. The two arc-shaped guide rails are stacked vertically, with their ends fixed to the ends of the output shafts of the two pairs of motor mechanisms. The output device has a transmission part that is slidably connected to both arc-shaped guide rails and a connecting part for connecting to external devices. When the output shafts of the two pairs of motor mechanisms rotate, the transmission part of the output device drives its connecting part to move on a spherical surface centered at the rotation center point, achieving pitch and yaw. This invention is suitable for applications such as robot wrist joints and astronomical observation, requiring high-deflection-range pitch and yaw drive control.

The invention discloses a spherical momentum motor based on a mantis shrimp swept limb torque reversal mechanism and a control method thereof. The spherical momentum motor comprises a spherical rotor, a driving unit, a ball socket base and a control system. The spherical rotor is embedded in the ball socket base, and a driving unit imitating mantis shrimp swept limbs is mounted in the spherical rotor; when the driving unit moves over a critical point, the torque is triggered to rotate reversely, millisecond-level rapid impact action is generated, and the spherical rotor is made to rotate based on the angular momentum conservation theorem; the ball socket base is provided with piezoelectric ceramics to realize active regulation and control on the rotating friction force of the spherical rotor; the control system is divided into a pulse power module and a friction cooperation module, the pulse power module controls the driving unit to act, and the friction cooperation module controls the piezoelectric ceramics to act. Through cooperative work of the driving unit and the friction regulation and control unit, pulse type control is formed, the problems of response lag and momentum saturation of a traditional flywheel type spherical motor are solved, fast response and high-precision operation are achieved, and the flywheel type spherical motor can be widely applied to the fields of robot joints, precise holders and the like.

The application belongs to the field of multi-degree-of-freedom motors, and particularly relates to a multi-layer magnetic pole spherical motor with improved torque density, which comprises an outer rotor, a stator and an inner rotor. The outer rotor comprises an outer rotor spherical surface and an outer layer of permanent magnets. The stator comprises a stator spherical surface, an electromagnetic coil and a stator base. The inner rotor comprises an inner rotor spherical surface, an inner layer of permanent magnets and a spherical joint bearing. The inner rotor spherical surface and the spherical joint bearing are connected through a middle platform. The middle platform and the outer rotor spherical surface are connected through a connecting shaft. The stator base and the spherical joint bearing are fixedly connected through a rotor support shaft. The spherical centers of the outer rotor spherical surface, the stator spherical surface and the inner rotor spherical surface are the same, the diameter of the inner rotor spherical surface is smaller than that of the stator spherical surface, and the diameter of the stator spherical surface is smaller than that of the outer rotor spherical surface, thereby solving the technical problem of small torque density of the prior art spherical motor.

The present invention belongs to the field of automation engineering technology, and relates to an electromagnetically driven highly integrated spherical motor and a control method thereof, specifically a highly integrated spherical motor device for a robot that only requires a follow-up mechanism formed by a coaxial connection with an output end through an external universal joint unit, and a built-in radially magnetized permanent magnet, which can achieve two-degree-of-freedom rotation of side and pitch under the direct drive of the coaxial follow-up magnetic torque of a universal rotating magnetic field in space. The rotation center of the external universal joint of the novel electromagnetically driven two-degree-of-freedom highly integrated spherical motor of the present invention is the rotation center of the spherical motor, which reliably realizes the motion decoupling of the two degrees of freedom of the motor, and the side and pitch angles can be measured and controlled separately. The motor has a compact and simple structure, flexible rotation, is not easily interfered with, has good motion stability, high positioning accuracy, and stable braking. Since the motor adopts a multi-layer nested structure based on a three-axis orthogonal combination coil, the motor has a large uniform magnetic field area, a compact structure, and a high energy output density.

The invention discloses a portable lunar surface electromagnetic short-distance delivery device, and belongs to the technical field of deep space exploration. The device comprises a screw anchor and a rotary casting module. The spiral anchor drives the anchor rod to rotate through the torque motor, so that the anchor blade is screwed into the lunar soil, and the fin plate is stably anchored after being inserted into the lunar soil. The rotary casting module is composed of a control cabin section, a spherical motor, a detector swing arm and a balance weight swing arm. The spherical motor drives the output shaft to rotate, and the detector swing arm and the counterweight swing arm are connected through a pin shaft, are folded to reduce the size in a static state and are centrifugally unfolded in a rotating state; lunar soil is used as a counterweight in the counterweight box. The throwing direction and the inclination angle are adjusted through the attitude detection module, the detector and the lunar soil are released after the emitting speed is reached, and kilometer-level in-place detection is achieved. The invention solves the problems of lunar surface lightening and low instantaneous power large-range delivery, and has the advantages of high portability, low peak power and wide detection range.

The invention discloses a comprehensive electromechanical system of a ship. Comprising a control device, a high-strength telescopic shaft, a full-rotation propelling device, an ocean current power generation device, an air bag clutch, a spherical motor, a positioning pile located at the bottom of a ship body, ocean current power generation paddles, a propelling frequency converter, a liquid flow battery pack, a power generation control device, a whole-ship power distribution system, a propelling power generation integrated device, a Beidou satellite and a 5G / 6G module, the control device selects manual operation or full-artificial intelligence operation according to the position of the ship body, the manual operation is remotely operated by bank base personnel, and the full-artificial intelligence operation selects a propulsion mode or an ocean current power generation mode by adopting an artificial intelligence dynamic positioning and positioning pile mode; the invention further discloses a monitoring ship. According to the system, the monitoring ship has the self-endurance keeping function, flexible deployment of monitoring points is guaranteed, meanwhile, maintenance of the monitoring device is reduced, and clean and renewable ocean current energy can be utilized.