Three degree of freedom spherical motor with multiple physical field mixing driving

Abstract

The invention belongs to the technical field of motor manufacture, and relates to a three degree of freedom spherical motor with multiple physical field mixing driving. The spherical motor comprises a supporting part, a stator and a spherical rotor, wherein the supporting part comprises a base and a spherical stator casing fixed on the base. The top end of the stator casing is provided with a circular hole. One layer or more than one layer of winding installation holes is uniformly distributed on the upper sphere of the stator casing in the direction parallel to the equator. The stator comprises a stator winding and an ultrasonic vibrator, wherein the stator winding consists of a winging shaft and a coil. The diameter of the winding shaft is slightly smaller than the inner diameter of the winding installation hole, and the top of the winding shaft penetrates through a compression spring and is arranged in the winding installation hole. The ultrasonic vibrator is fixed on the base, and the upper end of the ultrasonic vibrator is in an inner cone shape, and is matched with the spherical rotor. The spherical rotor is uniformly embedded in a multilayer permanent magnet pole along the direction parallel to the equator. The invention has reliable structure, improves the torque characteristic of the motor, and enhances the design flexibility of the motor control system.

Description

technical field [0001] The invention belongs to the technical field of motor manufacturing and relates to a three-degree-of-freedom spherical motor. Background technique [0002] With the advancement of science and technology, the application range of multi-degree-of-freedom motion mechanisms is becoming wider and wider. Traditional multi-degree-of-freedom motion is realized by combining multiple single-degree-of-freedom motors, which inevitably brings about problems such as large mechanism, low transmission precision, and difficult control. Therefore, the research of multi-degree-of-freedom motors and control systems has attracted more and more attention. Among them, spherical motors that can realize three-degree-of-freedom motions of pitch, tilt and rotation have wider application prospects, but the problems involved are also more complicated. [0003] Ultrasonic spherical motor is a new type of multi-degree-of-freedom motor that utilizes the inverse piezoelectric effect ...

AI Technical Summary

Problems solved by technology

However, the current ultrasonic spherical motor still has the following problems: 1. The pre-pressure device is not perfect

Compared with the size of the stator and rotor itself, the energy transfer interface of the ultrasonic motor is small, which limits the output torque of the motor

If the size of the stator is simply increased, although the contact area of ​​the stator and rotor can be increased, as the size increases, the resonant frequency of the stator decreases. When the resonant frequency is lower than the ultrasonic frequency band, the motor will generate strong noise. In addition, the ultrasonic motor The power is approximately proportional to the square of the resonant frequency, increasing the size of the stator will inevitably affect the output power of the motor

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