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Three-degree-of-freedom-motion permanent magnetic spherical step motor

A stepping motor, degree of freedom technology, applied in the direction of electric components, magnetic circuit shape/style/structure, electrical components, etc., can solve the problems affecting the dynamic response and positioning accuracy of the rotor, increase friction resistance, etc., to improve the dynamic response and Positioning accuracy, avoiding frictional resistance, reducing the effect of the moment of inertia

Inactive Publication Date: 2009-09-09
ANHUI UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional contact slide rail bracket measurement system increases the frictional resistance, which affects the dynamic response and positioning accuracy of the rotor

Method used

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  • Three-degree-of-freedom-motion permanent magnetic spherical step motor
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  • Three-degree-of-freedom-motion permanent magnetic spherical step motor

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Experimental program
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Effect test

Embodiment Construction

[0035] see figure 1 , figure 2 , in order to reduce the moment of inertia, in the spherical rotor, the upper hemispherical shell and the lower hemispherical shell made of non-magnetic materials are interlocked to form a hollow rotor spherical shell 1, and the tightening bolt 10 and positioning pin 16 fixed on the output shaft 6 Stitch the upper and lower hemispherical shells together.

[0036] On the hollow rotor spherical shell 1, four layers of permanent magnet slots 12 are distributed at intervals of equal longitude and equal latitude, and the cylindrical permanent magnets 14 arranged in the radial direction of the hollow rotor spherical shell 1 in the adjacent permanent magnet slots 12 are N The poles and S poles are alternately distributed; the height-adjustable bottom annular ball bearing 8 fixed on the base 7 is supported on the bottom of the hollow rotor spherical shell 1, and the bottom annular ball bearing 8 is made of non-magnetic material. The spherical rotor and...

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Abstract

The invention provides a three-degree-of-freedom-motion permanent magnetic spherical step motor. The motor is characterized in that a permanent magnet groove is arranged on a spherical hollow rotor housing, coil holes are distributed on a spherical stator housing on the periphery of a spherical rotor, a stator winding coil is arranged in the coil holes; an output shaft is fixedly connected with the spherical hollow rotor housing; a semispherical housing is fixedly arranged on the output shaft on the periphery of the spherical stator housing, center of the housing is coincident with that of the spherical hollow rotor housing, and a code pattern is arranged on the surface of the housing. The three-degree-of-freedom-motion is realized by the spherical structure, and position of the rotor can be detected by a machine vision method to solve the difficult detection problem of the motor rotor position. The motor is subject to feedback control according to the obtained rotor position, thus simplifying structure of the three-degree-of-freedom mechanical device, and enhancing dynamic and static performances and control precision of a system.

Description

technical field [0001] The invention relates to a spherical stepping motor, more specifically, a permanent magnet spherical stepping motor which uses the interaction between the permanent magnets distributed on the rotor and the energized coil windings on the stator to make the rotor move with three degrees of freedom. It is mainly used in aviation , aerospace, robotics, bionics and other technical fields. Background technique [0002] To achieve multi-degree-of-freedom motion, traditional methods often require multiple single-degree-of-freedom drive motors to achieve, resulting in bulky, poor reliability, low precision, and low efficiency of the entire system. Compared with the traditional multi-degree-of-freedom transmission mechanism, the spherical motor has a simple structure, small size, and light weight. It is widely used in the transmission fields of robot joints, spherical valves, pan-tilts for panoramic cameras, and omni-directional transportation mechanisms. [00...

Claims

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Application Information

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IPC IPC(8): H02K37/12H02K1/27H02K3/00H02K5/04
Inventor 王群京钱喆李争李国丽
Owner ANHUI UNIVERSITY
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