技术领域technical field
本发明涉及一种多自由度的球形电动机，属于电机技术领域。The invention relates to a multi-degree-of-freedom spherical motor, which belongs to the technical field of motors.
背景技术Background technique
现在的圆轮式车只能实现一个方向的行进，转向时需要使用转向机构来实现，结构复杂，且转动的角度有限，无法实现360度行进。例如，在拥挤的停车位，汽车必须经过繁琐的前进后退才能停靠在停车位上，浪费时间，需要司机有高超的驾车技术，同时车距相对较大，浪费宝贵的停车场地。The current round-wheeled vehicles can only travel in one direction, and need to use a steering mechanism to realize the steering. The structure is complicated, and the rotation angle is limited, so it is impossible to realize 360-degree travel. For example, in a crowded parking space, cars must go through cumbersome forward and backward movements to park in the parking space, which wastes time and requires the driver to have superb driving skills. At the same time, the distance between cars is relatively large, wasting precious parking space.
弧型定子电机是一种典型的圆盘型直线电机，它将初级做成弧形，并安放于次级圆柱面外侧，也称为弧型初级柱面次级直线电机。虽然圆盘型直线电机实际上是作圆周运动的，但由于其结构型式和运动原理与扁平型直线电机基本一致，故仍可归并于直线电机的范畴之中。弧型定子电机同样遵循直线感应电动机的基本原理，与旋转式感应电动机相类似，也可以分为三相、两相或单相。弧型定子电机的次级为绕固定轴转动的圆筒，因其转轴固定，所以无法实现其他方向的转动。The arc-shaped stator motor is a typical disc-shaped linear motor, which makes the primary arc-shaped and placed outside the secondary cylindrical surface, also known as the arc-shaped primary cylindrical secondary linear motor. Although the disc-type linear motor actually performs circular motion, its structure and motion principle are basically the same as those of the flat-type linear motor, so it can still be included in the category of linear motors. Arc stator motors also follow the basic principle of linear induction motors, similar to rotary induction motors, and can also be divided into three-phase, two-phase or single-phase. The secondary of the arc stator motor is a cylinder that rotates around a fixed axis. Because the axis of rotation is fixed, it cannot rotate in other directions.
发明内容Contents of the invention
为使车子能够360度轻松行进，简化车轮结构，本发明专利公开了一种球形电动机。本发明基于弧型直线感应电动机的基本原理，通过设计一种新形式的结构，提供了异于现有弧型定子电动机的能够实现动子（次级）360度任意方向转向的球形电动机。In order to enable the car to travel 360 degrees easily and simplify the wheel structure, the patent of the invention discloses a spherical motor. Based on the basic principle of arc-shaped linear induction motor, the present invention provides a spherical motor which is different from the existing arc-shaped stator motor and can realize 360-degree steering of the mover (secondary) in any direction by designing a new structure.
本发明为解决其技术问题所采用的技术方案如下。The technical scheme that the present invention adopts for solving its technical problem is as follows.
本发明所提出的多自由度的球形电动机包括环形座、球形动子、动子连接体、长圆弧定子、次长圆弧定子、短圆弧定子、减阻滚珠。长圆弧定子、次长圆弧定子、短圆弧定子通过动子连接体与环形座连接在一起，组成一体，置于球形动子上方。减阻滚珠分别置于上半球和下半球，防止球形动子从圆弧定子脱落。The multi-degree-of-freedom spherical motor proposed by the present invention includes an annular seat, a spherical mover, a mover connecting body, a long arc stator, a sublong arc stator, a short arc stator, and drag-reducing balls. The long-arc stator, the sub-long-arc stator and the short-arc stator are connected together with the annular seat through the mover connecting body to form a whole and placed above the spherical mover. The drag-reducing balls are respectively placed on the upper hemisphere and the lower hemisphere to prevent the spherical mover from falling off from the arc stator.
本发明的特征在于：所述的长圆弧定子在俯视方向延直径安置，次长圆弧定子、短圆弧定子在俯视方向依次等间隔安置在长圆弧定子两侧，次长圆弧定子、短圆弧定子分别为6个、8个。圆弧定子之间的夹角为22.5度。圆弧定子的个数可以根据球形动子和圆弧定子的尺寸增加，但它们之间的夹角是相等的。The present invention is characterized in that: the long-arc stator is arranged along the diameter in the direction of the top view, the sub-long arc stator and the short-arc stator are arranged on both sides of the long-arc stator at equal intervals in the direction of the top view, and the sub-long arc stator There are 6 and 8 short arc stators respectively. The angle between the arc stators is 22.5 degrees. The number of arc stators can be increased according to the size of the spherical mover and the arc stator, but the included angles between them are equal.
本发明的特征在于：所述的长圆弧定子为圆弧形，由带齿槽的铁心和嵌入齿槽的线圈组成；所述铁心的两端部加工有球形槽，在铁心的中部加工有球形槽；所述的圆弧定子靠近球形动子的一侧加工成球面，且与球形动子同心。The present invention is characterized in that: the long arc stator is arc-shaped, and is composed of an iron core with tooth grooves and a coil embedded in the tooth grooves; both ends of the iron core are processed with spherical grooves, and the middle part of the iron core is processed with Spherical groove; the side of the arc stator close to the spherical mover is processed into a spherical surface, which is concentric with the spherical mover.
本发明的特征在于：所述的次长圆弧定子、短圆弧定子为圆弧形，由带齿槽的铁心和嵌入齿槽的线圈组成；所述铁心的端部加工有球形槽；所述的圆弧定子靠近球形动子的一侧加工成球面，且与球形动子同心。The present invention is characterized in that: the sub-long arc stator and the short arc stator are arc-shaped, and are composed of an iron core with tooth grooves and a coil embedded in the tooth grooves; the ends of the iron cores are processed with spherical grooves; The side of the circular arc stator close to the spherical mover is processed into a spherical surface, which is concentric with the spherical mover.
本发明的特征在于：所述的球形动子由减摩涂层、球形导体、球形导磁材料组成；所述的球形导体为铜或铝；其特征在于球形导磁材料为铁或钢。The present invention is characterized in that: the spherical mover is composed of an antifriction coating, a spherical conductor, and a spherical magnetic permeable material; the spherical conductor is copper or aluminum; and the spherical magnetic permeable material is iron or steel.
本发明有益效果是：本发明能够实现动子（即轮子）向平面内的任意方向转动，结构简单，在多自由度设备中有很好的应用前景。当其安装在车上充当轮子时能够简化传动机构，实现电机的快速响应，方便车子的转向；当其当作关节使用时可以获得更加灵活的动作。The beneficial effects of the invention are: the invention can realize the rotation of the mover (that is, the wheel) in any direction in the plane, has a simple structure, and has a good application prospect in multi-degree-of-freedom equipment. When it is installed on the car as a wheel, it can simplify the transmission mechanism, realize the rapid response of the motor, and facilitate the steering of the car; when it is used as a joint, it can obtain more flexible movements.
附图说明Description of drawings
图1为本发明专利具体实施方式的截面结构示意图。Fig. 1 is a schematic cross-sectional structure diagram of a specific embodiment of the patent of the present invention.
图2为本发明专利具体实施方式的总俯视图。Fig. 2 is a general plan view of a specific embodiment of the patent of the present invention.
图3为本发明专利具体实施方式的初级布置俯视图。Fig. 3 is a top view of the preliminary layout of the specific embodiment of the patent of the present invention.
图4为本发明专利具体实施方式的长初级截面示意图。Fig. 4 is a long primary cross-sectional schematic diagram of a specific embodiment of the patent of the present invention.
图5为本发明专利具体实施方式的次长初级、短截初级面示意图。Fig. 5 is a schematic diagram of the second-longest primary and short-section primary surfaces of a specific embodiment of the patent of the present invention.
图中：1环形座；2球形动子；6动子连接体；3长圆弧定子；4次长圆弧定子；5短圆弧定子；7减阻滚珠；31、41铁心；32、42线圈；33、34、43球形槽；8减摩涂层；9球形导体；10球形导磁材料。In the figure: 1 ring seat; 2 spherical mover; 6 mover connector; 3 long arc stator; 4 long arc stator; 5 short arc stator; 7 drag reducing ball; 31, 41 iron core; 32, 42 Coil; 33, 34, 43 spherical slots; 8 anti-friction coating; 9 spherical conductor; 10 spherical magnetic permeable material.
具体实施方式detailed description
以下结合附图描述本发明的具体实施方式。Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.
如图所示，本发明一种球形电机的主要实施方式主要由环形座1、球形动子2、动子连接体6、长圆弧定子3、次长圆弧定子4、短圆弧定子5、减阻滚珠7组成。其中长圆弧定子3在俯视方向延直径安置，次长圆弧定子4、短圆弧定子5在俯视方向依次等间隔安置在长圆弧定子3两侧，次长圆弧定子4、短圆弧定子5分别为6个、8个。长圆弧定子3包括带齿槽的铁心31，嵌入齿槽的多相（两相、三相或更多相）线圈32。在铁心31的两端部加工有球形槽34，在铁心31的中部加工有球形槽33，减阻滚珠7安放在之中，用来减少摩擦阻力。次长圆弧定子4和短圆弧定子5结构相似，包括带齿槽的铁心41，嵌入齿槽的多相（两相、三相或更多相）线圈42。在铁心41的两端部加工有球形槽43，减阻滚珠7安放在之中，用来减少摩擦阻力。圆弧定子3、4靠近球形动子的一侧加工成球面，且与球形动子同心。球形动子2与单边型直线感应电动机的次级类似，由减摩涂层8、球形导体9、球形导磁材料10组成。球形导体9为铜或铝，球形导磁材料10为铁或钢。圆弧定子3、4与球形动子2由气隙隔开相对。As shown in the figure, the main embodiment of a spherical motor of the present invention is mainly composed of an annular seat 1, a spherical mover 2, a mover connecting body 6, a long arc stator 3, a second long arc stator 4, and a short arc stator 5 , 7 components of drag reducing balls. Wherein the long arc stator 3 is arranged along the diameter in the direction of the top view, and the second long arc stator 4 and the short arc stator 5 are arranged on both sides of the long arc stator 3 at equal intervals in the top view direction, and the second long arc stator 4 and the short arc stator are arranged at equal intervals in the top view direction. There are 6 and 8 arc stators 5 respectively. The long-arc stator 3 includes an iron core 31 with slots, and a multi-phase (two-phase, three-phase or more) coil 32 embedded in the slots. Spherical grooves 34 are processed at both ends of the iron core 31, and spherical grooves 33 are processed at the middle of the iron core 31, in which the drag-reducing balls 7 are placed to reduce frictional resistance. The sub-long arc stator 4 is similar in structure to the short arc stator 5, including an iron core 41 with slots, and multi-phase (two-phase, three-phase or more) coils 42 embedded in the slots. Spherical grooves 43 are processed at both ends of the iron core 41, and the drag-reducing balls 7 are placed therein to reduce frictional resistance. The arc stators 3 and 4 are processed into a spherical surface near the side of the spherical mover, and are concentric with the spherical mover. The spherical mover 2 is similar to the secondary of the unilateral linear induction motor, and consists of an antifriction coating 8 , a spherical conductor 9 and a spherical magnetically permeable material 10 . The spherical conductor 9 is copper or aluminum, and the spherical magnetic permeable material 10 is iron or steel. The arc stators 3, 4 are opposite to the spherical mover 2 separated by an air gap.
图中的多相（两相、三相或更多相）线圈42绕组采用常规方式构成，如采用波绕组、叠绕组或混合绕组等。The multi-phase (two-phase, three-phase or more phase) coil 42 windings in the figure are formed in a conventional way, such as wave winding, lap winding or hybrid winding.
多相（两相、三相或更多相）线圈42绕组的嵌放可按常规直线感应电机的嵌放方式及工艺进行。The embedding of multi-phase (two-phase, three-phase or more phase) coil 42 windings can be carried out according to the embedding method and process of conventional linear induction motors.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410313375.3ACN105226891A (en) | 2014-07-03 | 2014-07-03 | A kind of globular motor |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410313375.3ACN105226891A (en) | 2014-07-03 | 2014-07-03 | A kind of globular motor |
| Publication Number | Publication Date |
|---|---|
| CN105226891Atrue CN105226891A (en) | 2016-01-06 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410313375.3APendingCN105226891A (en) | 2014-07-03 | 2014-07-03 | A kind of globular motor |
| Country | Link |
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| CN (1) | CN105226891A (en) |
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| US20090230787A1 (en)* | 2008-02-29 | 2009-09-17 | Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) | Spherical motor rotating in multiple degrees of freedom |
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| CN101777851A (en)* | 2010-03-17 | 2010-07-14 | 天津大学 | Three degree of freedom spherical motor with multiple physical field mixing driving |
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| CN106877608A (en)* | 2017-03-15 | 2017-06-20 | 天津大学 | Three degrees of freedom permanent magnet spherical motor |
| CN110304130A (en)* | 2017-03-31 | 2019-10-08 | 福特全球技术公司 | The servo steering system of motor vehicles and the motor vehicles |
| CN108448867A (en)* | 2018-04-27 | 2018-08-24 | 天津大学 | A permanent magnet spherical motor with an outer rotor structure |
| CN109245356A (en)* | 2018-09-18 | 2019-01-18 | 艾德斯汽车电机无锡有限公司 | Circular arc joint motor |
| CN110877644A (en)* | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20160106 |