CN106341027A - Combined type two-degree-freedom mixed type stepping motor with orthogonal cylindrical structure for robot and application thereof - Google Patents
Combined type two-degree-freedom mixed type stepping motor with orthogonal cylindrical structure for robot and application thereof Download PDFInfo
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- CN106341027A CN106341027A CN201610911246.3A CN201610911246A CN106341027A CN 106341027 A CN106341027 A CN 106341027A CN 201610911246 A CN201610911246 A CN 201610911246A CN 106341027 A CN106341027 A CN 106341027A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
- H02K37/10—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type
- H02K37/12—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
- H02K1/165—Shape, form or location of the slots
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/2726—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of a single magnet or two or more axially juxtaposed single magnets
- H02K1/2733—Annular magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2786—Outer rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
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- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a combined type two-degree-freedom mixed type stepping motor with an orthogonal cylindrical structure for a robot and an application thereof. The combined type two-degree-freedom mixed type stepping motor comprises a first-degree-freedom motor, a second-degree-freedom motor and an output shaft, wherein the first-degree-freedom motor is of a cylindrical structure, the first-degree-freedom motor rotates about a rotating axis which is the diameter direction of the bottom of the cylindrical structure, the second-degree-freedom motor is of a cylindrical structure and is arranged on the outer edge of the first-degree-freedom motor, the axis center of the second-degree-freedom motor is vertically orthogonal to the axis center of the first-degree-freedom motor, the second-degree-freedom motor rotates about a rotating axis which is the shaft center of the first-degree-freedom motor, and the second-degree-freedom motor retains independent movement relative to the first-degree-freedom motor during the rotating process of the first-degree-freedom motor, so that the output shaft arranged on the outer side of the second-degree-freedom motor realizes two-degree-freedom movement. The research and development period of a product is shortened, and the performance of the product is improved. Practical utilization, industrialization and commercialization of multi (two)-degree-freedom motors are further facilitated.
Description
Technical field
The present invention relates to a kind of combined orthogonal column structure two-freedom hybrid type stepping motor and its application.
Background technology
Traditional asynchronous motor, synchronous motor, only rotor rotates this one degree of freedom, by gear or worm screw
Cooperation this rotation motion can be in line motion.In a lot of occasions, straight line or rotary motion are sufficient for meeting
The needs of control target；But in (the positioning control as the control of robot arm, radar of some more complicated motion occasions
System etc.), one degree of freedom can not meet needs it is necessary to have multiple motor with the use of can be only achieved purpose.But, such as
Fruit is carried out to control by multiple motors and will produce a lot of problems, such as complicated in mechanical structure, volume and weight increase, precision and
Dynamic characteristic is difficult to ensure that.There is many lacking just because of in multifreedom controlling if controlled using multiple motors
Fall into, people just gradually begin one's study whether a motor can be made multivariant, enable simulate controlled device
Movement locus to be realized.
Multiple degrees of freedom motor refers to there is two or three rotary freedoms, can bypass the spatial axis rotation of fixed point
Motor.It has that mechanical integrity is high, electric motor structure material and driving control system element utilization rate high the features such as, in tool
Have in the mechanical system of multiple freedoms of motion, multiple degrees of freedom motor can replace two or multiple stage single-degree-of-freedom electronic
Machine, can greatly simplify the structure of mechanical system, reducing volume and weight, thus improving precision and the dynamic property of system, carrying
High performance price ratio.Therefore multiple degrees of freedom motor is in robot, multi-coordinate machining center, aerospace craft, electronic top
Spiral shell instrument, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medical apparatus and instruments, camera operation platform, panoramic shooting operating board, stirring
Machine, globe valve etc. have in the equipment of multiple freedoms of motion and are with a wide range of applications.
The research origin of multiple degrees of freedom motor, in the fifties, has arrived the eighties mid-term, space technology, robot and
The developing rapidly of automatic technology, promotes the development of multiple degrees of freedom motor research, various operation principles and different structure
Multiple degrees of freedom motor emerges in an endless stream, and it is studied also into climax stage.Early 1950s, for improving induction electric
The speed adjusting performance of machine, Britain e.c.williams et al. have developed a kind of spherical induction conductivity of speed change, the rotor of this motor
It is all movable it may be said that being the blank of multi-freedom electric motor.Meanwhile, the former Russian scholar develops a kind of selsyn principle
3-degree-of-freedom electrical machine.From hereafter, until the initial stage eighties, the research of multiple degrees of freedom motor is at low ebb, mainly studies into
Fruit has a spherical winding motor patent of n.s.bers, the spherical motor pump patent of i.laing and n.laing, and spherical
Application in terms of gyro for the motor.Enter the eighties in 20th century, how certainly robot and developing rapidly of space technology promote
By the development of degree motor research, the raising of the appearance of motor new material and manufacturing technology level simultaneously, electric machine theory and automatically
The deep and Power Electronic Technique of control theory research and developing rapidly of computer technology, are multiple degrees of freedom motor body
Manufacture and its realization of driving control system provides favourable condition.Hereafter, the U.S., the research of the ground scholar such as Japanese and European
Work is very active, and the multiple degrees of freedom motor of various operation principles and different structure emerges in an endless stream, and has France than more typical
The spherical induction conductivity of outer rotor two-freedom developed of a.foggia et al., U.S. g.j.vanchtsevanos et al. grinds
The spherical step motor of the three degree of freedom spherical induction conductivity of system, U.S. kok-meng lee et al. development, a.r.miles
Et al. the Three Degree Of Freedom developed of the spherical motor of two-freedom of three-phase selsyn principle developed, the k.kaneko et al. of Japan
Frame structure two-freedom motor that spherical DC servo-motor, NEC Jing Qi company propose etc..
China starts from the later stage eighties 20th century although starting late to the research of multiple degrees of freedom motor, but country has
Pass department pays much attention to, and 863 Program and state natural sciences fund all subsidized the research project of multiple degrees of freedom motor aspect.
Main results have Northwestern Polytechnical University to have developed a kind of three degree of freedom spherical motor, and HUST have developed one
Three degree of freedom spherical induction conductivity, the frame structure two-freedom that Zhejiang University is proposed based on NEC Jing Qi company is electronic
Machine principle have developed a kind of orthohormbic structure two-freedom hybrid type stepping motor for robot ball-joint, Harbin industry
University have developed a kind of orthogonal column structure two-freedom motor, and Shandong University have developed one kind and is used for driven machine people
The bionical eyeball two-freedom hybrid type stepping motor of bionical eyeball.
Make a general survey of the work that forefathers are done, although the species of Level Multiple Degree of Freedom Structures motor model machine is more, major part is also not
Very perfect, still in the laboratory research stage, also there is a certain distance away from practical application.Wherein, traditional spheroidal structure
Multiple degrees of freedom motor manufactures and processing technique is relatively difficult, and motor control system is excessively complicated it is necessary to installation site is examined
Surveying device to constitute closed loop control, thus realizing being accurately positioned of output shaft, causing motor overall volume and weight larger；Base
Two-freedom motor in orthohormbic structure manufactures and processing technique is more ripe, and motor can be controlled using open loop approach
System, thus eliminating position sensor, simplifying control system, reduce motor overall volume and weight, but still suffers from
A series of insoluble problems, for example:
1. the orthogonal column structure two-freedom motor schematic diagram that Fig. 1 develops for Harbin Institute of Technology, this motor
It is made up of the 1st freedom motor 1-1 and 2DOF motor 2-1, wherein, 1-1 works in hybrid type stepping motor state,
Step angle is little, open loop positioning precision high, and 2-1 works in permanent-magnet stepping motor state, and step angle is big, open loop positioning precision
Low, therefore two-freedom motor entirety positioning precision is poor.
2. the orthohormbic structure two-freedom hybrid type stepping motor schematic diagram that Fig. 2 develops for Zhejiang University, Fig. 3 is Shandong
University develop bionical eyeball two-freedom hybrid type stepping motor schematic diagram, both of which by the 1st freedom motor 1-2,
1-3 and 2DOF motor 2-2,2-3 are constituted, and 1-2,1-3,2-2,2-3 all work in hybrid type stepping motor state,
Step angle is little, open loop positioning precision high, and because 2-2,2-3 are all using special non-cylindrical configuration motor, meeting in rotation process exists
Produce the out-of-balance force of mechanical aspects under the influence of Asymmetric Electric magnetic force and gravity, cause motor disturbance, electricity when serious, may be led to
Machine cannot normally run.
3. from Fig. 1, Fig. 2, the 1st freedom motor (1-1,1-2) two ends of this two kinds of structure two-freedom motor
There is segment space inside portion and 2DOF motor (2-1,2-2) to be underutilized, this reduces to a certain extent
The overall mechanical integrity of two-freedom motor.
Content of the invention
The present invention is in order to solve the above problems it is proposed that a kind of hybrid stepping of combined orthogonal column structure two-freedom
Motor and its application, present invention decreases the out-of-balance force of electromagnetism aspect, completely eliminating the out-of-balance force of mechanical aspects, can
The open ring position realizing motor controls, and saves position sensor, even and if control under service condition in open ring position, also may be used
Realize higher positioning precision by powering using sub-driver circuit.Driven machine person joint and machine further can be realized
The bionical eyeball of device people within the specific limits, the motion of certain precision lower edge any track, and than most traditional spherical how freely
Degree electric motor structure is more simple, it is bigger to be easier processing and manufacturing, rotor deflection scope, volume is less, weight is lighter, drive electricity
Road more simplifies, control mode is more simple, it is more preferable to run flatness.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of combined orthogonal column structure two-freedom hybrid type stepping motor, including the first freedom motor, the
Two-freedom degree electric machine and output shaft, wherein, described first freedom motor is cylindrical-shaped structure, and described first freedom motor
With the basal diameter direction of its cylindrical-shaped structure as rotating shaft, rotate around the shaft；
Described second freedom motor is cylindrical-shaped structure, is arranged on the outer of described first freedom motor, and by the
Single-degree-of-freedom motor is set in inside it, and its axle center is orthogonal with the axis perpendicular of described first freedom motor, and described second
Freedom motor, with the axle center of the first freedom motor as rotating shaft, rotates around it；
Described second freedom motor keeps with respect to first freely during rotating with the first freedom motor again
The self-movement of degree motor is so that the output shaft being arranged on outside it realizes the motion of two degree of freedom.
Described first freedom motor is inner rotor motor, including rotor portion, stationary part and rotating shaft, described rotor portions
Divide the center being arranged on stationary part by rotating shaft, described rotor portion includes two sections of annulars of annular permanent magnet and its both sides
Laminate rotor core, outside rotor core, be evenly arranged some little teeth, stationary part all include laminating stator cores, stator around
Group, is distributed with magnetic pole, is provided with stator winding in interpolar groove inside stator core.
Described second freedom motor is external rotor electric machine, including rotor portion, stationary part and rotating shaft, described rotor portions
Divide the center being arranged on stationary part by rotating shaft, described rotor portion includes two sections of annulars of annular permanent magnet and its both sides
Laminate rotor core, inside rotor core, be evenly arranged some little teeth, stationary part all include laminating stator cores, stator around
Group, is distributed with magnetic pole, is provided with stator winding in interpolar groove outside stator core.
Little tooth mutually wrong 1/2 tooth pitch on the two-stage rotor iron core of described rotor portion, on described pole shoe, the stator of distribution is little
Tooth pitch between tooth is identical with rotor little tooth tooth pitch.
The stationary part of described first freedom motor is in space transfixion, and rotor portion and rotating shaft around determining, can turn
Subcenter axis rotates within the specific limits.
The frame diameter of described first freedom motor is less than the frame diameter of the second freedom motor, and
Notch is offered, described first freedom motor can embed inside notch inside the stator core of the second freedom motor.
The stator core of described second freedom motor is provided with mechanical linkage, one end of mechanical linkage and the second degree of freedom
The stator core of motor is fixed, the rotating shaft of the other end and the first freedom motor fix so that the first freedom motor fixed, turn
Subcenter axis is orthogonal with the stator and rotor central axis upright of the second freedom motor, and the rotating shaft of the first freedom motor drives
The overall stator and rotor central axis around the first freedom motor of second freedom motor rotates within the specific limits.
The running orbit of described output shaft terminal point is always positioned on same sphere, and running orbit scope is limited to two
The extreme rotational angular range of freedom motor.
Same phase stator winding is wrapped on adjacent two magnetic pole of the stator and coiling is in opposite direction, this two neighboring stator
Magnetic pole mutually staggers (k+0.5) θrMechanical angle；There are two stator magnet that the biphase stator winding in identical coiling direction is located
Extremely mutually stagger (180 ° of ± θr/ 4) mechanical angle, wherein, k is positive integer, θrFor rotor tooth elongation.
During construction two-freedom hybrid type stepping motor, carry out the no load test of two motors, static load is tested, steady
State load test, starting experiment and open loop operation positioning precision test experiments, to determine under respective zero load electromagnetism, loading condition
Static torque, the optimum operation range of speeds, starting speed scope and open loop operation positioning precision.
A kind of joint of robot, specifically includes above-mentioned two-freedom hybrid type stepping motor.
A kind of robot bionic eyeball, including above-mentioned two-freedom hybrid type stepping motor.
Operation principle of the present invention: for the first freedom motor, permanent magnet flux φ 1 is through annular permanent magnet → mono- section rotor ferrum
The heart → air gap → stator core → air gap → another section of rotor core → annular permanent magnet forms closed-loop path, when stator winding is pressed
When certain order is energized, motor works in hybrid type stepping motor state, the rotor portion of the first freedom motor and rotating shaft
Rotate around x-axis together with the overall stationary part with respect to the first freedom motor of the second freedom motor, so that output shaft is realized around x
Direction of principal axis swings.For the second freedom motor, permanent magnet flux φ 2 is through annular permanent magnet → mono- section rotor core → air gap → fixed
Sub- iron core → air gap → another section of rotor core → annular permanent magnet forms closed-loop path, when stator winding is energized in certain sequence
When, motor equally works in hybrid type stepping motor state, and the rotor portion of the second freedom motor is with respect to second freely
The stationary part of degree motor rotates around y-axis, makes output shaft realize swinging around y-axis direction.Suitably give the first freedom motor and the
Two-freedom degree electric machine is energized, and output shaft can be made to realize making two-freedom motion around x-axis and y-axis within the specific limits.
The respective motion of two freedom motors of the present invention makes the track that output shaft end runs be similar to respectively on tellurion
Warp and parallel.In the middle of reality, the motion of two freedom motors is all within certain extreme rotational angular range,
I.e. it is believed that output shaft can be with necessarily essence in the range of one section of sphere that maximum longitude warp and maximum dimension parallel are surrounded
Degree moves along arbitrary trajectory.Therefore, as long as the range of movement of the joint of robot of actual requirement or robot bionic eyeball exists
Within the scope of one section of sphere that above-mentioned maximum meridian is surrounded with maximum latitude line, then the present invention can drive joint or eyeball
Moved along arbitrary trajectory with certain precision in claimed range.
The invention has the benefit that
1st, adopt new operation principle and electric machine structure, extend the species of multiple degrees of freedom motor, electromechanics is integrated
Degree and stock utilization are higher, and positioning precision is higher, and the range of deflection of output shaft is larger, can meet or exceed ± 45 °, electricity
Machine body and mechanical connecting structure are relatively simple, and easily, (particularly two certainly to be advantageously implemented multiple degrees of freedom motor for processing and manufacturing
By degree motor) practical, lightweight and small size.
2nd, solve Solution of Electromagnetic Field Penetration Problems.First freedom motor of the present invention and the second freedom motor are by not leading
The mechanical mechanism of magnetic is fixed together, therefore both be separate in terms of electromagnetism, between do not exist electromagnetic coupled close
System, the electromagnetism that greatly simplify motor calculates and performance evaluation, and the key solving in multiple degrees of freedom motor research process is asked
One of topic.
3rd, completely eliminate the out-of-balance force of mechanical aspects, largely reducing the out-of-balance force of electromagnetism aspect.The present invention's
Two freedom motors are all using column structure motor, and both rotating parts (putting aside output shaft and its external load)
It is constant load with respect to respective rotary shaft, that is, rotating part turns to mechanical force produced by optional position with respect to respective
Rotary shaft invariable, thus completely eliminate the out-of-balance force of mechanical aspects in rotation process.On the other hand, first freely
The stator and rotor of degree motor, partly all using full symmetric cylinder electric machine structure, completely eliminate the out-of-balance force of electromagnetism aspect；The
The rotor portion of two-freedom degree electric machine adopts full symmetric cylinder electric machine structure, and stationary part adopts asymmetric cylinder motor knot
Structure, therefore can produce electromagnetic unbalance power, but compared to orthohormbic structure two-freedom hybrid type stepping motor (Fig. 2) and bionical
With two-freedom hybrid type stepping motor (Fig. 3), this electromagnetic unbalance power is because being obtained using cylinder electric machine structure for eyeball
Significantly weaken.
4th, motor manufacturing and processing technique are simplified.Two freedom motors of the present invention are separate in terms of electromagnetism
, individually can carry out Electromagnetic Design for each freedom motor, and two freedom motors are all using complete cylinder electricity
Machine structure, many empirical equations for conventional hybrid type stepping motor design and diagram curve are all applied to the present invention, this
Outward, two freedom motors can be manufactured respectively and be processed, and carry out Simple assembled, therefore can simplify after machining
Manufacture and processing technique is it is ensured that the machining accuracy of each freedom motor, thus improving the overall processing of two-freedom motor
Precision.
5th, simplify the driving control system of motor.Two freedom motors of the present invention all work in hybrid stepping electricity
Motivational state and separate, therefore can be using being applied to the electric current subdivision drive control method of hybrid type stepping motor to two
Individual freedom motor is individually driven and controls the uneoupled control it is achieved that between two degree of freedom, is convenient for track rule
Draw and control algolithm research, additionally, using ripe integrated subdivision drive control circuit, enormously simplify driving control system
Development, be easy to develop computer control system, improve control drive integration, integration degree.
6th, can achieve that open ring position controls, save position sensor, and opened loop control positioning precision is higher.The two of the present invention
Individual freedom motor all works in hybrid type stepping motor state and separate, therefore can carry out open ring position control respectively
System, the height of opened loop control positioning precision depends on the step angle size of each freedom motor, and hybrid type stepping motor
Advantage be, positioning precision can be improved using electric current subdivision drive method under the conditions of opened loop control, and electric current high-subdividing number is bigger,
Positioning precision is higher, therefore passes through change electric current high-subdividing number and can meet different positioning accuracy requests, thoroughly solves common
The low problem of orthogonal column structure two-freedom motor (Fig. 1) open loop operation positioning precision.
7th, improve the overall mechanical integrity of motor.As shown in figure 4, the second freedom motor 2- due to the present invention
4 employ outer-rotor structure so that the space between the first freedom motor both ends and the second freedom motor inside obtains
Effectively utilizes, compared to ordinary quaternary column structure two-freedom motor (Fig. 1) and orthohormbic structure two-freedom hybrid
Stepping motor (Fig. 2) mechanical integrity is higher.
8th, conveniently performance test and experimentation are carried out to motor.Two freedom motors of the present invention are separate, and
And it is complete column structure motor, respective slewing area is all higher than 360 °, therefore can carry out performance test and experiment respectively
Research.Wherein, the first freedom motor is the inner rotor motor of double shafts, directly as test prototype and can carry out performance test
Experiment；Second freedom motor is external rotor electric machine, can install rotating shaft and constitute test prototype, and then carry out performance survey on rotor
Examination experiment.
As can be seen that the combined orthogonal column structure two-freedom hybrid type stepping motor of the present invention is many with traditional
Degree of freedom motor compare with structural principle simple, mechanical integrity is high, design convenience of calculation, processing and manufacturing easily, drive
Control mode is simple, can achieve the higher advantage of opened loop control, opened loop control positioning precision, greatly reduces motor and drives control
The overall manufacture of system processed and R＆D costs, are beneficial to promote and realize multiple degrees of freedom motor (especially two-freedom is electronic
Machine) practical, industrialization and commercialization.
Brief description
Fig. 1 is the overall structure figure of orthogonal column structure two-freedom motor；
Fig. 2 is the overall structure figure of orthohormbic structure two-freedom hybrid type stepping motor；
Fig. 3 is the overall structure figure of bionical eyeball two-freedom hybrid type stepping motor；
Fig. 4 is the overall structure figure of the present invention；
Fig. 5 is the overall structure side view of the present invention；
Fig. 6 is the first freedom motor and the base overall structure figure of the present invention；
Fig. 7 is the second freedom motor and the output shaft overall structure figure of the present invention；
Fig. 8 is the first freedom motor structure decomposition figure of the present invention；
Fig. 9 is the second freedom motor structure decomposition figure of the present invention；
Figure 10 be the present invention first freedom motor stator winding each winding wiring figure (in figure "×" represents winding direction
Inwards, "●" represents that the vertical paper of winding direction is outside to vertical paper)；
Figure 11 is stator winding each winding wiring figure of the present invention second freedom motor；
Figure 12 is the first freedom motor extreme rotational angle schematic diagram of the present invention；
Figure 13 is the second freedom motor extreme rotational angle schematic diagram of the present invention；
Figure 14 is the output shaft terminal point running orbit scope schematic diagram of the present invention；
Figure 15 is the experiment test model machine overall structure figure (stator winding of test prototype of the present invention second freedom motor
Each winding wiring mode such as Figure 11)；
Figure 16 is the experiment test prototype structure exploded view (stator winding of test prototype of the present invention second freedom motor
Each winding wiring mode such as Figure 11).
In figure, 1-4. first freedom motor, 2-4. second freedom motor, 3-4. output shaft, 4-4. base, 5. stator
End cap (not magnetic conduction), 6. rotor endcap (not magnetic conduction), 7.x axle bearing, 8. rotor core, 9. rotating shaft, 10. permanent magnet, 11. stators
Iron core, 12.y axle bearing, 13.y axle bearing covers axle, 14. mechanical linkages, 15. stator winding, and 16. output shaft terminal points run
Track place sphere, 17. 60 ° of east longitude warps, 18. 45 ° of south latitude parallels, 19. 60 ° of west longitude warps, 20. 45 ° of north latitude parallels, 21.
Second freedom motor test prototype rotating shaft, 22. second freedom motor test prototype rotor endcap, 23. second degree of freedom electricity
Machine test prototype base.
Specific embodiment:
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of combined orthogonal column structure two-freedom hybrid type stepping motor, as shown in figure 4, include first freely
Degree motor 1-4, the second freedom motor 2-4, output shaft 3-4 and base 4-4, the first freedom motor 1-4 is inner rotor motor,
Including rotor portion, stationary part, stator end cap 5, rotating shaft 9, the second freedom motor 2-4 is external rotor electric machine, including rotor
Partly, stationary part, rotor endcap 6；The rotor portion structural principle of described two freedom motors is identical, including annular permanent magnet
Two sections of annulars of body 10 and its both sides laminate rotor core 8, rotor core 8 outside (the first freedom motor 1-4) or inner side (the
Two-freedom degree electric machine 2-4) it is evenly arranged some little teeth, mutually wrong 1/2 tooth pitch of the little tooth on two-stage rotor iron core 8；Described two from
Laminating stator cores 11, stator winding 15, stator core 11 inner side (the first degree of freedom electricity are all included by the stationary part of degree motor
Machine 1-4) or outside (the second freedom motor 2-4) magnetic pole is distributed with, be provided with stator winding 15 in interpolar groove, on the pole shoe of magnetic pole
With rotor little tooth tooth pitch identical some stator little tooth is distributed with；Volume in the stator core 11 of described second freedom motor 2-4
Be externally provided with bearing 12 and bearing holder (housing, cover) axle 13, bearing 12 is coordinated with rotor endcap 6, rotor portion pass through rotor endcap 6, bearing 12,
Bearing holder (housing, cover) axle 13 is fixed together with stator core 11；Stator end cap 5 center of described first freedom motor 1-4 is provided with bearing
7, rotor portion center is provided with rotating shaft 9, and bearing 7 is coordinated with rotating shaft 9, and stator end cap 5, bearing 7, rotating shaft 9 are passed through in stator core 11
It is fixed together with rotor portion.
The stator end cap 5 of described base 4-4 and the first freedom motor 1-4 is fixing, and stator end cap 5 is solid with stator core 11
Determine, the stator end cap 5 of the therefore first freedom motor 1-4 and stationary part are in space transfixion, and rotor portion and rotating shaft 9
Can rotate within the specific limits around stator and rotor central axis x-axis；
The stator core 11-1 external diameter of described first freedom motor 1-4 is less than the stator ferrum of the second freedom motor 2-4
Heart 11-2 external diameter, and have sufficiently large notch inside the stator core 11-2 of the latter so that the first freedom motor 1-4 is whole
Body can embed inside notch；
The stator core 11-2 of described second freedom motor 2-4 is provided with mechanical linkage 14, one end of mechanical linkage 14
Fix with the stator core 11-2 of the second freedom motor 2-4, the rotating shaft 9 of the other end and the first freedom motor 1-4 is fixing, makes
Obtain the stator and rotor central axis y-axis perpendicular quadrature of x-axis and the second freedom motor 2-4, the therefore first freedom motor 1-4's
Rotating shaft 9 can drive the second freedom motor 2-4 integrally to rotate within the specific limits around x-axis；
It is provided with output shaft 3-4, rotor portion can drive output shaft 3- outside the rotor endcap 6 of described second freedom motor
4 rotate within the specific limits around y-axis, and output shaft 3-4 can connect load equipment.
It is as follows that the present invention realizes two-freedom operation logic: as shown in Fig. 4, Fig. 6, Fig. 8, Figure 10, the first freedom motor
The stationary part (including stator core 11-1, bearing 7-1 and 7-2 and stator winding 15-1～15-8) of 1-4 and stator end cap 5-
1st, 5-2 is maintained static by base 4-4, when the order that biphase stator winding presses (+a) (+b) (- a) (- b) is energized,
Rotor portion (including rotor core 8-1,8-2 and permanent magnet 10-1) and rotating shaft 9 can be rotated around x-axis by bearing 7-1,7-2, and
Drive output shaft 3-4 and the second freedom motor 2-4 overall around x-axis rotation.On this basis, as the second freedom motor 2-4
Biphase stator winding (15-9～15-12) press (+a) (+b) (- a) (- b) order be energized when, its stationary part (bag
Include stator core 11-2, y-axis bearing 12, y-axis bearing holder (housing, cover) axle 13 and stator winding 15-9～15-12) can by y-axis bearing 12 around
Y-axis rotates, and drives output shaft 3-4 to rotate around y-axis, as shown in Fig. 4, Fig. 7, Fig. 9, Figure 11.Therefore, output shaft 3-4 can be
Single-degree-of-freedom motor 1-4, the second freedom motor 2-4 rotate rotating around x-axis, y-axis under driving, and two freedom motors
Motion is separate, thus realizing two-freedom motion.Because x-axis and y-axis are in space perpendicular quadrature all the time, position of intersecting point is constant
And the centre of sphere for integrated motor, and the central axis of output shaft 3-4 passes through the centre of sphere, therefore in motor rotation process, output
Axle 3-4 terminal point is constant to the constant distance of the centre of sphere, and that is, the running orbit of output shaft 3-4 terminal point is always positioned at same ball
On face 16, running orbit scope is limited to the extreme rotational angular range of two freedom motors.Wherein, the first freedom motor
θ in the extreme rotational angle of 1-4 such as Figure 121Shown, in the extreme rotational angle such as Figure 13 of the second freedom motor 2-4 θ2
Shown.Extreme rotational angle, θ with two freedom motors1=60 °, θ2=45 °, (every step run one step turns over step angle
Mechanical angle) as a example 1.8 °, the operation area of output shaft 3-4 terminal point is included in 60 ° of warps 17 of east longitude, 45 ° of south latitude just
Within the scope of the spherical area that parallel 18,60 ° of warps 19 of west longitude, 45 ° of parallels 20 of north latitude are surrounded, as shown in figure 14, this ball
Dot matrix in the regional extent of face is all positions in space that output shaft 3-4 terminal point can reach.As seen from Figure 14, electricity
The step angle of machine is less, then in dot matrix, adjacent 2 points of spherical distance is nearer, represents the positioning precision of output shaft 3-4 terminal point
Higher.In the middle of actual, (hybrid type stepping motor using electric current Multi-level microstep mode is generally to adopt electric current Multi-level microstep mode
Prior art, is general knowledge known in this field) to reduce step angle, and electric current high-subdividing number is bigger, and step angle is less, positioning precision
Higher.For example, when using 64 electric current Multi-level microstep, step angle can be reduced to 1.8 °/64, and about 0.03 °, this is in open loop operation
Under the conditions of be very high positioning precision.
The present invention is typically used as two-phase motor structure, and Figure 10, Figure 11 are respectively the present invention and are used as the during two-phase motor
Single-degree-of-freedom motor 1-4 and the stator winding wiring schematic diagram of the second freedom motor 2-4, stator winding 15-1～15-12 is
Concentratred winding, is wrapped on the magnetic pole of stator core 11-1,11-2.First freedom motor 1-4 is the hybrid step of ordinary construction
Enter motor, the determination method of its stator winding mode of connection, stator magnet number of poles and the rotor number of teeth belongs to known in this field normal
Know, here introduces the second freedom motor 2-4.As shown in figure 11, same phase stator winding is wrapped in adjacent two and determines
On sub- magnetic pole and coiling (as a phase stator winding 15-9,15-10) in opposite direction, this two neighboring magnetic pole of the stator mutually staggers (k+
0.5)θrMechanical angle；Have identical coiling direction the biphase stator winding of a, b (as a phase stator winding 15-9 and b phase stator around
Group 15-11) two magnetic pole of the stator being located mutually stagger (180 ° of ± θr/ 4) mechanical angle.Wherein, k is positive integer, θrFor rotor
Angular pitch (mechanical angle), the selection of k need to ensure to leave between two magnetic pole of the stator that same phase stator winding is located necessarily big
Little space, embeds stator winding to facilitate.For example, two stator magnet that in Figure 11, a phase stator winding 15-9 and 15-10 is located
Extremely mutually stagger (3+0.5) θr(θr=7.2 °), two stators that a phase stator winding 15-9 and b phase stator winding 15-11 is located
Magnetic pole mutually staggers (180 °+1.8 °).
Compared to the multi-degree of freedom spherical motor of traditional structure, one of significant advantage of the present invention is embodied in easy construction
Test prototype simultaneously carries out performance test and experimentation, and this is that the shortening present invention is perfect from product Preliminary design to properties of product
R＆D cycle lays a good foundation, and is conducive to promoting practical, industrialization and the commercialization process of product of the present invention.With reference to figure
4th, Fig. 6, Fig. 7, Figure 15, Figure 16 illustrate building method and performance test and the experimentation side of test prototype of the present invention
Method.Motor of the present invention overall (as Fig. 4) is to be become by two separate complete column structure group of motors, i.e. the first degree of freedom
Motor 1-4 (as Fig. 6) and the second freedom motor 2-4 (as Fig. 7), and test prototype can be constructed respectively and carry out experiment survey
Examination.Wherein, the first freedom motor 1-4 is the common hybrid type stepping motor of double shafts, can enter directly as test prototype
Row experiment test, as shown in Figure 6.Second freedom motor 2-4 is special outer rotor hybrid type stepping motor, due to not having
Rotating shaft, thus more difficult directly carry out experiment test it is necessary to construction Figure 15, Figure 16 shown in test prototype, specific configuration method
As follows: (1) installs rotor endcap 22 in the side of rotor portion, and the center of rotor endcap 22 is provided with rotating shaft 21；(2) in rotor
Partial opposite side mounting seat 23, together with base 23 is fixed by screws in stator core 11-2.For two degree of freedom
The test prototype of motor, when the order that biphase stator winding presses (+a) (+b) (- a) (- b) is energized, model machine can picture
Common hybrid type stepping motor equally rotates, thus can carry out a series of performance tests and experimentation, specifically includes that (1)
Carry out no load test, no-load back electromotive force under certain rotating speed for the metrical prototype, to verify the accurate of model machine zero load Electromagnetic Design
Property and reasonability；(2) carry out static load experiment, the torque angle displacement characteristic of metrical prototype, to verify static under model machine loading condition turning
The accuracy of square design and reasonability；(3) carry out steady state load experiment, the torque frequency feature of metrical prototype, obtain model machine torque with
The Changing Pattern of rotating speed, to determine the optimum operation range of speeds of model machine；(4) electric motor starting experiment, the sky of metrical prototype are carried out
Carry and starting frequency maximum under loading condition, to determine the starting speed scope of model machine；(5) carry out open loop operation positioning precision survey
Examination experiment, by installing encoder or angular transducer in model machine rotating shaft, can be with the angular values of metrical prototype actual rotation
(can carry out multigroup measurement in the case of different loads), by the theoretical values under this measured value and opened loop control service condition
(the total umber of pulse of driver output is multiplied by model machine step angle) is compared, and can carry out error analyses, so that it is determined that model machine
Open loop operation positioning precision.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (12)
1. a kind of combined orthogonal column structure two-freedom hybrid type stepping motor, is characterized in that: include the first degree of freedom
Motor, the second freedom motor and output shaft, wherein, described first freedom motor be cylindrical-shaped structure, and described first from
By degree motor with the basal diameter direction of its cylindrical-shaped structure as rotating shaft, rotate around the shaft；
Described second freedom motor is cylindrical-shaped structure, is arranged on the outer of described first freedom motor, and by first certainly
It is set in inside it by degree motor, and its axle center is orthogonal with the axis perpendicular of described first freedom motor, described second freely
Degree motor, with the axle center of the first freedom motor as rotating shaft, rotates around it；
Described second freedom motor keeps with respect to the first degree of freedom electricity during rotating with the first freedom motor again
The self-movement of machine is so that the output shaft being arranged on outside it realizes the motion of two degree of freedom.
2. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 1, its feature
It is: described first freedom motor is inner rotor motor, including rotor portion, stationary part and rotating shaft, described rotor portion leads to
Cross the center that rotating shaft is arranged on stationary part, described rotor portion includes annular permanent magnet and its two sections of annulars of both sides laminate
Rotor core, is evenly arranged some little teeth outside rotor core, stationary part all includes laminating stator cores, stator winding, fixed
Magnetic pole is distributed with inside son iron core, in interpolar groove, is provided with stator winding.
3. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 1, its feature
It is: described second freedom motor is external rotor electric machine, including rotor portion, stationary part and rotating shaft, described rotor portion leads to
Cross the center that rotating shaft is arranged on stationary part, described rotor portion includes annular permanent magnet and its two sections of annulars of both sides laminate
Rotor core, is evenly arranged some little teeth inside rotor core, stationary part all includes laminating stator cores, stator winding, fixed
Magnetic pole is distributed with outside son iron core, in interpolar groove, is provided with stator winding.
4. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 2 or claim 3, it is special
Levying is: little tooth mutually wrong 1/2 tooth pitch on the two-stage rotor of described rotor portion iron core, on described pole shoe the little tooth of stator of distribution it
Between tooth pitch identical with rotor little tooth tooth pitch.
5. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 1, its feature
It is: the stationary part of described first freedom motor is in space transfixion, and rotor portion and rotating shaft can be around stator and rotor centers
Axis rotates within the specific limits.
6. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 1, its feature
It is: the frame diameter of described first freedom motor is less than the frame diameter of the second freedom motor, and second
Notch is offered, described first freedom motor can embed inside notch inside the stator core of freedom motor.
7. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 1, its feature
It is: the stator core of described second freedom motor is provided with mechanical linkage, one end of mechanical linkage and the second freedom motor
Stator core fix, the rotating shaft of the other end and the first freedom motor is fixed so that in the stator and rotor of the first freedom motor
Heart axis is orthogonal with the stator and rotor central axis upright of the second freedom motor, and the rotating shaft of the first freedom motor drives second
The overall stator and rotor central axis around the first freedom motor of freedom motor rotates within the specific limits.
8. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 1, its feature
It is: the running orbit of described output shaft terminal point is always positioned on same sphere, running orbit scope is limited to two freedom
The extreme rotational angular range of degree motor.
9. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 1, its feature
It is: same phase stator winding is wrapped on adjacent two magnetic pole of the stator and coiling is in opposite direction, this two neighboring magnetic pole of the stator
Mutually stagger (k+0.5) θrMechanical angle；There are two magnetic pole of the stator phases that the biphase stator winding in identical coiling direction is located
Mutually stagger (180 ° of ± θr/ 4) mechanical angle, wherein, k is positive integer, θrFor rotor tooth elongation.
10. the combined orthogonal column structure two-freedom hybrid type stepping motor of one kind as claimed in claim 1, its feature
It is: during construction two-freedom hybrid type stepping motor, carry out the no load test of two motors, static load is tested, stable state is born
Carry experiment, start experiment and open loop operation positioning precision test experiments, static under respective zero load electromagnetism, loading condition to determine
Torque, the optimum operation range of speeds, starting speed scope and open loop operation positioning precision.
A kind of 11. joint of robot, is characterized in that: the two-freedom including as any one of claim 1-10 is hybrid
Stepping motor.
A kind of 12. robot bionic eyeballs, including the hybrid stepping of the two-freedom as any one of claim 1-10
Motor.
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| CN201610911246.3A CN106341027B (en) | 2016-10-19 | 2016-10-19 | Combined orthogonal cylindrical structure two-freedom hybrid type stepping motor and its application |
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| CN201610911246.3A CN106341027B (en) | 2016-10-19 | 2016-10-19 | Combined orthogonal cylindrical structure two-freedom hybrid type stepping motor and its application |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434897A (en) * | 2019-06-12 | 2019-11-12 | 北京航空航天大学 | A kind of compact bionic eye device based on two degrees of freedom electromagnetic drive rotating mechanism |
| CN111246975A (en) * | 2017-10-31 | 2020-06-05 | 索尼公司 | Robot device |
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| JPH08186972A (en) * | 1994-12-28 | 1996-07-16 | Asmo Co Ltd | Laminated core type stepping motor |
| EP0898287B1 (en) * | 1997-08-22 | 2003-05-21 | Alps Electric Co., Ltd. | Hard magnetic alloy having supercooled liquid region, sintered product thereof and applications |
| CN101282070A (en) * | 2008-05-12 | 2008-10-08 | 天津大学 | Three-freedom Halback array permanent magnetism sphericity synchronous motor |
| CN102075042A (en) * | 2011-02-28 | 2011-05-25 | 北京航空航天大学 | Ball type motor with three-dimensional topology magnetic pole distribution structure |
| CN206117468U (en) * | 2016-10-19 | 2017-04-19 | 山东大学 | Combined two degrees of freedom on quadrature cylinder structure hybrid step motor |
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2016
- 2016-10-19 CN CN201610911246.3A patent/CN106341027B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08186972A (en) * | 1994-12-28 | 1996-07-16 | Asmo Co Ltd | Laminated core type stepping motor |
| EP0898287B1 (en) * | 1997-08-22 | 2003-05-21 | Alps Electric Co., Ltd. | Hard magnetic alloy having supercooled liquid region, sintered product thereof and applications |
| CN101282070A (en) * | 2008-05-12 | 2008-10-08 | 天津大学 | Three-freedom Halback array permanent magnetism sphericity synchronous motor |
| CN102075042A (en) * | 2011-02-28 | 2011-05-25 | 北京航空航天大学 | Ball type motor with three-dimensional topology magnetic pole distribution structure |
| CN206117468U (en) * | 2016-10-19 | 2017-04-19 | 山东大学 | Combined two degrees of freedom on quadrature cylinder structure hybrid step motor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111246975A (en) * | 2017-10-31 | 2020-06-05 | 索尼公司 | Robot device |
| CN110434897A (en) * | 2019-06-12 | 2019-11-12 | 北京航空航天大学 | A kind of compact bionic eye device based on two degrees of freedom electromagnetic drive rotating mechanism |
| CN110434897B (en) * | 2019-06-12 | 2021-01-01 | 北京航空航天大学 | Compact bionic eye device based on two-degree-of-freedom electromagnetic drive rotating mechanism |
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| CN106341027B (en) | 2018-08-24 |
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