CN108448867A - A permanent magnet spherical motor with an outer rotor structure - Google Patents

Abstract

The present invention relates to a kind of permanent magnetism spherical motors with outer-rotor structure, stator includes stator coil, stator inner support and stator outer support, stator inner support includes chassis portion and the spherical part that is fixed on chassis, the groove to match with stator coil is offered in the outer surface of spherical part, stator coil is embedding in the trench, stator outer support is fixed on the outside of stator coil, its outer surface is smooth spherical surface, stator outer support be two with splicing can fixed hemispherical Shell, entire smooth spherical shell is formed after splicing.Rotor includes permanent magnet pole and rotor supports, and rotor supports are used for placing permanent magnet pole and ball, are connected to output shaft thereon to export machine torque；Offered in rotor supports with the matched notch of ball, notch is matched with ball enables rotor supports to be buckled in stator outer support, when movement without departing from；On the hemisphere face in the Z axis positive axis direction of rotor supports inner surface, magnetic pole is distributed with.

Description

A permanent magnet spherical motor with an outer rotor structure

technical field

The invention belongs to the field of spherical motor structure design, in particular to a permanent magnet spherical motor with an outer rotor structure.

Background technique

At present, precision devices for spatial multi-dimensional motion such as industrial manipulator joints and panorama heads have been widely used. These devices currently require multiple single-degree-of-freedom drive motors and complex mechanical transmission mechanisms to complete three-dimensional motion in space, resulting in system Complex, bulky, low efficiency, insufficient precision, slow response, poor dynamic performance. Under such circumstances, spherical motors capable of providing multi-degree-of-freedom motion have received extensive attention. Since the spherical motor was proposed, scholars at home and abroad have done a lot of work in the fields of its structure analysis and control. However, the permanent magnet spherical motor still needs to overcome some problems in practice: due to the complex electromagnetic field distribution of the permanent magnet spherical motor, the moment and angle characteristics need to be improved, the torque output generated by the spherical rotor is very difficult, and the loss during the torque output process It is very large; the operating principles of permanent magnet spherical motors are different, corresponding to different detection technologies and control algorithms, which are still in the stage of theoretical exploration, and the practicability is poor.

Contents of the invention

The purpose of the present invention is to propose a new permanent magnet spherical motor with better practicability and suitable for low-speed operation occasions. The technical scheme is as follows:

A permanent magnet spherical motor with an outer rotor structure, the stator includes stator coils, stator inner support and stator outer support, the stator inner support includes a chassis part and a spherical part fixed on the chassis, and the outer surface of the spherical part is provided with a stator The grooves that match the coils, the stator coils are embedded in the grooves, the outer support of the stator is fixed on the outside of the stator coils, its outer surface is a smooth spherical surface, and the outer support of the stator is two hemispherical shells that can be fixed by splicing. Form the entire smooth spherical shell.

The rotor includes permanent magnet poles and rotor support. The rotor support is used to place permanent magnet poles and balls, and an output shaft is connected to it to output mechanical torque. A notch matching with the ball is opened on the rotor support, and the notch is connected with the ball. The matching enables the rotor support to be buckled on the outer support of the stator without detachment during movement; magnetic poles are distributed on the hemispherical surface in the direction of the positive semi-axis of the Z axis on the inner surface of the rotor support.

Preferably, the stator coil is divided into 5 layers from the positive semi-axis to the negative semi-axis of the Z-axis, and the θ component of the spherical coordinates of each layer is θ=0°, 30°, 60°, 90°, 120°, and each layer is evenly distributed 1, 4, 8, 8, 8 coils, 29 coils in total.

There are three layers of magnetic poles, and the θ components of the spherical coordinates of each layer range from 30° to 50°, 50° to 70°, and 70° to 90°, and each layer is composed of 8 N poles and 8 S poles arranged alternately. The spherical coordinates of each pole The component range is 22.5°.

Technical effect of the present invention is as follows:

1. The use of the outer rotor in the new permanent magnet spherical motor with outer rotor structure provides more space for the arrangement of permanent magnet poles to generate high magnetic flux density, so that high torque output can be achieved.

2. The motion range of the new permanent magnet spherical motor with the outer rotor structure is larger than that of the spherical motor with the inner rotor structure.

3. The new permanent magnet spherical motor with an outer rotor structure may be relatively high because of the moment of inertia of the rotor, and this design is more suitable for low-speed applications.

4. New permanent magnet spherical motor with outer rotor structure. The outer rotor structure helps resist external disturbances during motion and improves the operating stability of the system.

Description of drawings

Figure 1: Schematic diagram of a spherical motor.

The names of the labels in the figure are: 1 stator inner support; 2 stator coil; 3 stator outer support; 3.1 rivet buckle; 3.2 rivet; 4 ball; 5 rotor support; Magnet pole; 7.1N pole; 7.2S pole.

Figure 2: Schematic diagram of stator coil distribution.

The label names in the figure are: 1 stator inner support; 2 stator coil.

Figure 3: Schematic diagram of rotor pole distribution.

The label names in the figure are: 7.1N pole; 7.2S pole.

Figure 4: Schematic diagram of moment generation.

The label names in the figure are: 2.1 coil 1; 2.2 coil 2; 7 permanent magnet poles.

Detailed ways

The present invention proposes a new design of a permanent magnet spherical motor with an outer rotor structure. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

The present invention proposes some improvements in the structure of the permanent magnet spherical motor. Based on the structures of common permanent magnet spherical motors, such as polyhedral structure and layered structure, a new type of permanent magnet spherical motor with an outer rotor structure is proposed. The characteristic of the new permanent magnet spherical motor is that the rotor is outside, and the double-layer permanent magnet poles are placed on the rotor support, and the balls are placed to provide support for the relative movement of the stator and the rotor. The stator shell is arranged with multi-layer hollow coils. The magnetic field interacts with the current input in the stator coils to generate torque. The new spherical motor structure has better practicability in specific applications of spherical motors such as industrial manipulator joints, and also provides a new idea for the further development of spherical motors.

(1) Mechanical structure and working principle:

The new permanent magnet spherical motor with an outer rotor structure mainly includes two parts, the stator and the rotor. The specific structures of each are described below.

As shown in FIG. 1 , the stator is mainly composed of three parts: a stator coil 2 , a stator inner support structure 1 and a stator outer support structure 3 . The stator coil 2 is wrapped and fixed into a cylindrical shape by insulating enameled wire, which is conveniently embedded in the stator support 1. All the coils 2 are divided into 5 layers from the positive semi-axis to the negative semi-axis of the Z-axis. The θ component of the spherical coordinates of each layer θ=0°, 30°, 60°, 90°, 120°. As shown in Figure 2, 1, 4, 8, 8, and 8 coils 2 are evenly distributed in each layer, and there are 29 coils ² in total. The coils of the first layer are not shown in the figure. The number is 300 turns. The inner supporting structure 1 of the stator is slotted for accommodating the coil 2, and the lower cylindrical chassis provides support for the entire spherical motor. The outer support structure 3 of the stator is used to provide a smooth surface so that the rotor can move freely. At the same time, the outer support structure acts as a part of the air gap, so the size should be small, which is the same as the designed air gap thickness, which is 1mm. It is easy to install during manufacture Divide it into two halves, one half of which is distributed with rivets 3.2 at the separation, and the other half is distributed with rivets and buckles 3.1 at the corresponding positions. When splicing, the two are spliced together to fix the two hemispherical shells into a smooth spherical shell

As shown in FIG. 1 , the rotor mainly consists of two parts: permanent magnet poles 7 and rotor support 5 . The rotor support 5 is mainly used to place the permanent magnet poles 7 and the balls 4, on which the output shaft 5.2 is connected to output the mechanical torque. During manufacture, it is divided into two halves for the convenience of installation, and the connecting port 5.1 is connected with screws and nuts. , wherein the main function of the ball 4 is to reduce the frictional force when the stator and the rotor move with each other, and the size is designed so that the rotor supporting device can be completely buckled on the stator and will not be separated during movement; the permanent magnet pole 7 is shown in Figure 3 It shows that on the hemispherical surface in the positive semi-axis direction of the Z-axis, three layers of magnetic poles 7 are distributed, and the ranges of the θ components of the spherical coordinates of each layer are 30° to 50°, 50° to 70°, and 70° to 90°, each The layer is composed of 8 N poles 7.1 and 8 S poles 7.2 alternately arranged, and the spherical coordinates of each magnetic pole 7 The component range is 22.5°.

As shown in Figure 4, when the stator coil 2 of the spherical motor is energized, a torque effect is generated between the stator coil 2 and the rotor pole 7, as shown in Figure 4, the coil 2.2 generates an attractive force on the magnetic pole, and the coil 2.1 generates a repulsive force on the magnetic pole, Make the magnetic pole 7 move along the direction from the coil 2.1 to the coil 2.2, and then push the rotor of the spherical motor to move. When all stator coils 2 are energized, the rotor can rotate around its rotor axis 5.2 (i.e. spin motion); when energized to coils 2 at different longitudinal positions, the rotor can tilt around different directions. Therefore, when different stator coils 2 are energized, the rotor can generate three-degree-of-freedom movements in space.

The combination and assembly of components, the arrangement of rotor poles, the structure and arrangement of coils in the present invention can all be changed according to actual conditions, and these deformations and applications should all fall within the scope of the present invention.

Claims (3)

1. A permanent magnet spherical motor with an outer rotor structure, the stator includes stator coils, the inner support of the stator and the outer support of the stator, the inner support of the stator includes a chassis part and a spherical part fixed on the chassis, and the outer surface of the spherical part is provided with The groove that matches the stator coil, the stator coil is embedded in the groove, the outer support of the stator is fixed outside the stator coil, its outer surface is a smooth spherical surface, and the outer support of the stator is two hemispherical shells that can be fixed by splicing. The entire smooth spherical shell is formed after splicing. The rotor includes permanent magnet poles and rotor support. The rotor support is used to place permanent magnet poles and balls, and an output shaft is connected to it to output mechanical torque. A notch matching with the ball is opened on the rotor support, and the notch is connected with the ball. The matching enables the rotor support to be buckled on the outer support of the stator without detachment during movement; magnetic poles are distributed on the hemispherical surface in the direction of the positive semi-axis of the Z axis on the inner surface of the rotor support. 2. The permanent magnet spherical motor according to claim 1, wherein the stator coil is divided into 5 layers from the positive half axis of the Z axis to the negative half axis, and the θ component of the spherical coordinates of each layer is θ=0 °, 30 °, 60°, 90°, 120°, 1, 4, 8, 8, 8 coils are evenly distributed in each layer, a total of 29 coils. 3. The permanent magnet spherical motor according to claim 1, wherein the magnetic poles have three layers, and the ranges of theta components of the spherical coordinates of each layer are respectively 30° to 50°, 50° to 70°, and 70° to 90° °, each layer is composed of 8 N poles and 8 S poles arranged alternately, the spherical coordinates of each magnetic pole The component range is 22.5°.