CN106451994A - Two-freedom-degree hybrid stepping motor for bionic eyeballs of robot - Google Patents
Two-freedom-degree hybrid stepping motor for bionic eyeballs of robot Download PDFInfo
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- CN106451994A CN106451994A CN201610911764.5A CN201610911764A CN106451994A CN 106451994 A CN106451994 A CN 106451994A CN 201610911764 A CN201610911764 A CN 201610911764A CN 106451994 A CN106451994 A CN 106451994A
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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
-
- 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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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
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Abstract
The invention discloses a two-freedom-degree hybrid stepping motor for bionic eyeballs of a robot. The stepping motor comprises a first freedom degree motor, a second freedom degree motor and output shafts, wherein the first freedom degree motor is of a circular structure with a notch, the second freedom degree motor is of a circular structure with an opening, the notch is matched with the opening, and the planes of the two motors are perpendicularly orthogonal; the first freedom degree motor and the second freedom degree motor both comprise stators and rotors, the stators and the rotors can relatively move in the planes of the motors, and the two-freedom-degree movement of the output shaft of one freedom degree motor can be achieved through respective independent movement of the two freedom degree motors. The two-freedom-degree hybrid stepping motor has the advantages of being simple in structure and manufacture technology, convenient in analysis design, high in mechanical integration level, high in open-loop operation location accuracy, easy in performance experiment test and favorable for shortening the development period of products and improving the performance and the competitiveness of the products.
Description
Technical field
The present invention relates to a kind of robot bionic eyeball two-freedom hybrid type stepping motor.
Background technology
Robot bionic eyeball obtains certain vision for help robot in the task of execution, thus more independent, just
True work has great significance, but, because bionical eyeball needs, as normal eyeball, to carry out the operation such as rotating, because
This needs multivariant motor, simultaneously need to ensureing that this motor volume is little, light weight, positioning precision are high, it is good to run flatness,
And output shaft end certain precision lower edge any track motion in given range that eyeball is motor can be made, such as eyeball connects
Rotate continuously.
Traditional multifreedom motion is often cooperated realization by multiple single dof mobilities.Multiple degrees of freedom transmission device
The general mechanical driving device by multiple stage single-degree-of-freedom driving element and complexity to be constituted, thus causing multiple degrees of freedom apparatus body
Long-pending huge, precision is low, dynamic and static poor performance；And due to more application reduction gearing in device, result in rotary inertia
Increase the generation with non-linear friction, thus increased the energy loss of transmission device, the gap of transmission device also reduces simultaneously
System stiffness, increased the unstability of system.With the high speed development of modern industry, machine industry is to transmission device
Precision requirement more and more higher, traditional multiple degrees of freedom transmission device can not meet industrial requirements.In order that multiple degrees of freedom
Transmission structures are simple, and motion flexibly, drives, controls rapid and coordinate, the development of multi-freedom electric motor and application receive
The extensive concern of Chinese scholars.
The research of multiple degrees of freedom motor can trace back to the 1950's, and period goes out in the fifties and the eighties respectively
Climax is now studied after twice.So far, the multiple degrees of freedom motor of research both at home and abroad can be divided into：How freely selsyn formula
Degree motor, induction type multiple degrees of freedom motor, magneto multiple degrees of freedom motor, ultrasonic wave multiple degrees of freedom motor, combination
Formula multiple degrees of freedom motor etc., wherein magneto multiple degrees of freedom motor include DC multiple degrees of freedom motor, permanent magnetism step
Enter multiple degrees of freedom motor, reluctance type permanent magnetism multiple degrees of freedom motor, permanent-magnet synchronous multiple degrees of freedom motor.These multiple degrees of freedoms
The mentality of designing of traditional single-degree-of-freedom motor has been continued to use in the development of motor mostly.In numerous structures, spherical structure electronic
Machine due to its in kinematics angle most beneficial for multi-dimensional movement, can space arbitrarily angled realize positioning, become domestic
The study hotspot of outer scholar.Spherical motor can replace traditional multiple degrees of freedom transmission device, and having an advantage in that can be at one
The multifreedom motion of complexity is realized on motor, greatly reduces the complexity of mechanical driving device, reduce the body of device
Amass and weight, improve positioning precision and the response speed of transmission device, reduce the energy loss of system, expanded motor
Range of application.Spherical motor is in robot, mechanical arm, electric top, antenna follower, machine tooling, panoramic shooting cloud
Suffer from being widely applied prospect in the equipment such as platform and robot bionic eyeball.
At present, the research type of spherical motor substantially can be summarized as magnetic resistance type, permanent-magnet type, asynchronous type and double-fed spherical
Motor.Abroad it is engaged in mainly having of spherical motor area research work：State-run advanced Industrial Technology Research Institute of Japan, the U.S.
Georgia Institute of Technology, Univ Sheffield UK, Aachen, Germany polytechnical university, Johns Hopkins University of the U.S., Singapore
Nanyang Technolohy University.The spherical motor patent of state-run advanced Industrial Technology Research Institute of Japan application is electronic according to plane magnetoresistive
The principle of machine develops and comes.Georgia Institute of Technology of U.S. G.J.Vanchtsevanos in 1987 etc. describes a kind of three lines
Circle induction type spherical motor, and propose the design philosophy of variable reluctance spherical motor first.Kok-Meng in 1988
Lee et al. further illustrates the design philosophy of magnetic resistance type spherical motor it is indicated that the shortcoming of induction type spherical motor, and
Point out the difference of Three Degree Of Freedom reluctance stepper and common single-degree-of-freedom magnetic resistance stepper motor.Phenanthrene is thanked to by Britain within 1997
Er De university J.Wang et al. has developed the permanent magnet spherical motor with two-freedom or Three Degree Of Freedom.1999, moral
RWTH of state develops a kind of permanent-magnet type three degree of freedom spherical motor, and it is fixed to have extensively studied permanent magnet spherical motor
The arrangement of sub- upper magnetic pole and the impact placed to the generation of motor torque characteristic.1999, Johns Hopkins University of the U.S.
A kind of permanent magnetic spherical step motor of the development and designs such as S.Chirikjian, this motor is noteworthy characterized by stator to rotor
Coverage is less than half rotor, thus significantly expanding the range of movement of rotor.2004, Nanyang Technological University
Liang Yan et al. have developed permanent magnetism spherical dc motor and built the experiment measuring table of spherical motor.Just at present
For, the research of external multi-degree of freedom spherical motor, still in the laboratory research stage, also exists apart from real commercialization
Certain distance.
The domestic research to multi-degree of freedom spherical motor starts from the later stage eighties 20th century, starts late.Due to country
Relevant departments pay much attention to, and state natural sciences fund and 863 Program have all subsidized the research project of this respect, promote domestic pass
Research in spherical motor has obtained developing faster.Northwestern Polytechnical University, HUST, Zhejiang University, Harbin
The colleges and universities such as polytechnical university, HeFei University of Technology and University Of Tianjin have developed respective multi-degree of freedom spherical motor model machine, and
Relevant issues have been carried out with more in-depth study.Northwestern Polytechnical University Su Zhong fly et al. with brushless d. c spherical motor be
Research direction, was made for First model machine in 1989.1994, HUST's Huang Shenghua et al. have developed one three certainly
Studied by the problems such as the spherical double-fed induction motor of degree, the three-dimensional magnetic field calculating to this motor and control strategy.1993
Year, Zhejiang University's department of electrical engineering is all to be waited people quietly and have developed a kind of spherical motor of robot ball-joint two-freedom, and this motor is adopted
With the two-dimentional stepper motor structure of similar frame structure, it is made up of 2 five phase composite stepper motors.1999, Ha Er
Shore polytechnical university have developed a kind of aspherical orthogonal column structure double air gaps magnet steel Three Degree Of Freedom stepping motor altogether, belongs to combination
Formula multiple degrees of freedom motor.Afterwards, the permanent magnetism that HeFei University of Technology Wang Qun capital et al. proposes to Johns Hopkins University of the U.S.
Type spherical step motor is studied, and Halbach array is applied on permanent magnet spherical motor for University Of Tianjin, to improve
The magnetic distribution of motor, makes air-gap field waveform closer to sine, improves the runnability of motor.
At present, the high-tech sector such as Industry Control and robot is watched to positioning and be executed in space any direction
The element demand taking function grows with each passing day, thus research to multi-degree of freedom spherical motor and application propose higher more urgent
Requirement.Make a general survey of the work that forefathers are done, although the species of spherical motor model machine is more, major part is not also very perfect,
Still in the laboratory research stage, also there is a certain distance away from practical application.Spy due to spherical motor structure and principle
Different property, for finally realizing its industrialization, commercialization, needs primary study and solves the problems, such as following aspect：
1. the research and development of new principle model machine and the optimization design problem of existing electric machine structure.According to different application occasion to spherical
The different requirements of motor, continue to develop the practical spherical motor using new operation principle, spherical electronic to extend
The species of machine, widens the range of application of spherical motor.Optimize existing spherical motor structure, make electric machine structure simple, be easy to
Manufacture, improve the mechanical integrity of motor, expand trochiterian range of deflection, simplified support structure, mitigate weight, reduce volume.
2. the computational problem of electromagnetic field and torque.Because spherical motor has the magnetic distribution of complexity, and mostly
For three dimensional field, it requires the computational problem of further investigation spherical motor electromagnetic field, trial simplifies three dimensional field with two dimensional field
Calculating, thus carrying out the solution of electromagnetic torque on the basis of two dimensional field, being that Principle Demonstration and the structure design of spherical motor carries
For foundation.
3. Solution of Electromagnetic Field Penetration Problems.Because multi-degree of freedom spherical electric motor structure integrated level is high, necessarily deposit between each free degree
In complicated electromagnetic coupled relation.How quantitative analyze these coupled relations and its impact to motor control performance, with
And how to be decoupled, it is key issue urgently to be resolved hurrily in spherical motor research.
4. motor manufacturing and process issues.Due to multi-degree of freedom spherical motor planform with conventional single from
Significant difference is had by degree cylinder motor, so many empirical equations for conventional motor design and icon curve are not all suitable for
The design of spherical motor.Therefore, it is necessary to according to the concrete structure feature of spherical motor, sum up design of electrical motor experience public
Formula, the optimization design for later spherical motor provides reference.Further, since spherical motor complex structure, process more tired
Difficulty, so the research of spherical motor processing technology must also be paid attention to, improves the accuracy of spherical motor processing.
5. spherical motor drive control problem.Spherical motor is typical electromechanical integrated product, its drive control
System not only will detect to the angular displacement of each free degree, speed, acceleration, output torque and stator coil, also real
Now the uneoupled control between each free degree, trajectory planning are applied to multi-degree of freedom spherical Motor Control it is therefore necessary to develop
The special control components and parts of system simultaneously adopt computer controls, develop computer control system.
6. position detection and positioning precision problem.For making spherical motor complete the positioning fortune of space sphere optional position
Dynamic, realize the optimal path search of trajectory planning must be requested that there is the three-dimensional position sensing system of high-resolution to realize
The detection of rotor spherical surface position, and it is conceived to the resolving accuracy improving detecting system, realize multi-degree of freedom spherical motor
Closed-loop control.
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 robot bionic eyeball two-freedom is electric
Motivation, this motor goes in robot bionic eyeball, and the present invention can achieve that the open ring position of motor controls, and saves position
Put sensor, even and if control under service condition in open ring position, also can be by realization be powered relatively using sub-driver circuit
High positioning precision.And then can realize the bionical eyeball of driven machine people within the specific limits, any track of certain precision lower edge
Motion, and more simpler than most traditional spherical motor structures, be easier to fabricate, mechanical integrity is higher, turn
Sub- range of deflection is bigger, volume is less, weight is lighter, drive circuit more simplifies, control mode is more simple, run flatness
More preferably.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of robot bionic eyeball two-freedom hybrid type stepping motor, including the first freedom motor, second
Freedom motor and output shaft, wherein, described first freedom motor is the circular ring with a breach, and described second certainly
It is the circular ring with an opening by degree motor, and described breach is adapted with opening so that the place of two motors is put down
Face is perpendicular orthogonal；
Described first freedom motor, the second freedom motor all include stator and rotor, frame bore and rotor
It is provided with a certain size air gap separation, rotor can be sent out in the place plane of affiliated freedom motor with stator between external diameter unshakable in one's determination
Raw relative motion, the stator and rotor central axis of described first freedom motor and the stator and rotor central shaft of the second freedom motor
Line perpendicular quadrature, intersection point is the centre of sphere of spherical motor；
By two freedom motor each self-movements, realize the output shaft being disposed therein on one degree of freedom motor
End points is to the constant two-freedom motion of the constant distance of the centre of sphere.
Described first freedom motor is identical with the second freedom motor structure, all includes rotor portion and stationary part,
Rotor portion includes the not magnetic conduction rotor field spider of cylinder, annular permanent magnet and is arranged on the annular of permanent magnet both sides and laminates rotor
Iron core, is evenly arranged some little teeth outside described rotor core；Stationary part includes arc laminating stator cores and stator winding,
Stator core inner circumferential is distributed with magnetic pole, is provided with stator winding in interpolar groove, and stator little tooth is distributed with the pole shoe of magnetic pole.
Described permanent magnet, rotor core and not magnetic conduction rotor field spider be provided with the opening of formed objects, permanent magnet and rotor
Iron core is sleeved on not magnetic conduction rotor field spider so that the aperture position alignment of three.
If described stator core is provided with dry bearing and bearing holder (housing, cover) axle, all bearings of each freedom motor and bearing holder (housing, cover) axle
Central axis be located at same cylindrical plane, the mechanical engagement mode between bearing and not magnetic conduction rotor field spider be interference fit.
Little tooth in the two ends rotor core of described rotor portion mutually wrong 1/2 tooth pitch.
The tooth pitch of the little tooth of described stator is identical with rotor little tooth tooth pitch.
Described stator core radian is more than 180 °, and is less than rotor core radian.
The stator core of described first freedom motor is maintained static by base, and rotor portion passes through bearing and not magnetic conduction
Rotor field spider rotates around stationary part；
The overall rotor portion synchronous axial system with the first freedom motor of described second freedom motor, pivot center and the
The stator and rotor central axes of single-degree-of-freedom motor, the stationary part of the second freedom motor turns around the rotor portion of itself
Dynamic, pivot center is orthogonal with the stator and rotor central axis upright of the first freedom motor.
Described stator winding is concentratred winding, is wrapped on the magnetic pole of stator core, same phase stator winding is wrapped in phase
On two adjacent magnetic pole of the stator and coiling is in opposite direction, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle,
There are two magnetic pole of the stator that the adjacent two-phase stator winding in identical coiling direction is located mutually stagger (j+0.5/m) θrMechanical angle
Degree, k and j is positive integer and k<J, m are the winding number of phases, θrFor rotor tooth elongation.
In motor rotation process, the constant distance of output shaft terminal point to the centre of sphere is constant, i.e. output shaft terminal point
Running orbit be always positioned on same sphere, running orbit scope is limited to the extreme rotational angle model of two freedom motors
Enclose.
The number of described stator winding is adapted with the number of phases of motor.
A kind of robot bionic eyeball, including above-mentioned spherical structure two-freedom hybrid type stepping motor.
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.
Operation principle of the present invention：For the first freedom motor, permanent magnet flux Φ 1 is through annular permanent magnet → mono- section rotor iron
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, and the rotor of the first freedom motor is together with second certainly
By the overall stator with respect to the first freedom motor of degree motor around the first freedom motor stator and rotor central axis (it is assumed that
For X-axis) rotate, make output shaft realize swinging around X-direction.For the second freedom motor, permanent magnet flux Φ 2 is through annular permanent magnet
Body → mono- section rotor core → air gap → stator core → air gap → another section of rotor core → annular permanent magnet forms and closes back
Road, when stator winding is energized in certain sequence, motor equally works in hybrid type stepping motor state, the second free degree electricity
The stator of machine is (vertical with X-axis around the stator and rotor central axis of the second freedom motor with respect to the rotor of the second freedom motor
Orthogonal it is assumed that be Y-axis) rotate, make output shaft realize around Y direction swing.By suitably giving the first freedom motor and second
Freedom motor 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 regard as 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 robot bionic eyeball of actual requirement is in above-mentioned maximum meridian
Within the scope of the one section of sphere being surrounded with maximum latitude line, then the present invention can drive joint or eyeball in claimed range with
Certain precision is moved along arbitrary trajectory.
Beneficial effects of the present invention are：
1. adopt new operation principle and electric machine structure, extend the species of multi-degree of freedom spherical motor, electromechanics
Integrated level and stock utilization are higher, and the range of deflection of output shaft is larger, can meet or exceed ± 45 °, supporting construction is relatively
For simple, it is advantageously implemented practical, lightweight and the small size of spherical motor.
2. simplify the electromagnetic field of motor and Analysis on Torque calculates.First freedom motor of the present invention and second free degree
Motor is hybrid type stepping motor, and is directed to electromagnetic field and existing substantial amounts of point of the torque calculation of hybrid type stepping motor
Analysis research, and can be that Proof-Of Principle and the structure design of motor brings very big side using two dimensional field to simplify Three-Dimensional Field Calculation
Just.
3. solve Solution of Electromagnetic Field Penetration Problems.First freedom motor of the present invention and the second freedom motor are by not leading
Magnet rotor support is fixed together, therefore both be separate in terms of electromagnetism, between there is not electromagnetic coupled relation,
The electromagnetism that greatly simplify motor calculates and performance evaluation, solves the key issue in spherical motor research process.
4. simplify motor manufacturing and processing technology.Two freedom motors of the present invention are separate in terms of electromagnetism
, can individually carry out Electromagnetic Design for each freedom motor, therefore many routine hybrid type stepping motors that are used for set
The empirical equation of meter and diagram curve are all applied to the present invention, and the two of the present invention freedom motor can be made respectively in addition
Make and process, carry out after machining assembling, therefore can simplify manufacture and processing technology it is ensured that each freedom motor
Machining accuracy, thus improving the overall machining accuracy of spherical motor.
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 frees degree, 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.
7th, conveniently performance test and experimental study are carried out to motor.On the one hand, two freedom motors of the present invention are mutual
Independent, therefore can carry out performance test and experimental study respectively.On the other hand, experiment test is carried out to each freedom motor
When, the test prototype in rotor portion (including permanent magnet, rotor core and not magnetic conduction rotor field spider) imperforation region can be constructed, survey
Sample machine compared to original motor dimensional structure parameter constant but can carry out rotating more than 360 °, and can install on test prototype
Rotating shaft is so that performance test and experiment research for conventional motor may be directly applied to test prototype；
8th, this motor volume is little, light weight, positioning precision are high, it is good to run flatness, and eyeball can be made to be motor
Move it is ensured that eyeball continuously rotates in output shaft end certain any track of precision lower edge in given range.
As can be seen that the spherical structure two-freedom hybrid type stepping motor of the present invention and traditional multi-degree of freedom spherical
Motor compare with structural principle simple, mechanical integrity is high, design convenience of calculation, processing and manufacturing easily, drive control side
Formula is simple, can achieve opened loop control and the high advantage of opened loop control positioning precision, for promoting practical, the industry of spherical motor
Change, commercialization provides new thinking and solution.
Brief description
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is the first freedom motor overall structure figure of the present invention；
Fig. 3 is the second freedom motor overall structure figure of the present invention；
Fig. 4 is the first freedom motor structure decomposition figure of the present invention；
Fig. 5 is the second freedom motor structure decomposition figure of the present invention；
Fig. 6 be the present invention first freedom motor stator winding each winding wiring figure (taking 2 phase motors as a example, in figure
"×" represents the vertical paper of winding direction inwards, and " " represents that the vertical paper of winding direction is outside)；
Fig. 7 is stator winding each winding wiring figure () of the present invention second freedom motor taking 2 phase motors as a example；
Fig. 8 is the first freedom motor extreme rotational angle schematic diagram of the present invention；
Fig. 9 is the second freedom motor extreme rotational angle schematic diagram of the present invention；
Figure 10 is the output shaft terminal point running orbit scope schematic diagram of the present invention；
Figure 11 is stator winding each winding wiring figure () of the present invention first freedom motor taking 3 phase motors as a example；
Figure 12 is stator winding each winding wiring figure () of the present invention second freedom motor taking 3 phase motors as a example；
Figure 13 is the experiment test model machine overall structure figure (stator winding of test prototype of the present invention first freedom motor
Each winding wiring mode such as Fig. 6)；
Figure 14 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 Fig. 7)；
In figure, 1. the first freedom motor, 2. the second freedom motor, 3. output shaft, 4. base, 5. stator core, 6.
Not magnetic conduction rotor field spider, 7. rotor core, 8. permanent magnet, 9. bearing, 10. bearing holder (housing, cover) axle, 11. stator winding, 12. output shaft ends
End end points running orbit place sphere, 13. 45 ° of east longitude warps, 14. 45 ° of south latitude parallels, 15. 45 ° of west longitude warps, 16. north latitude
45 ° of parallels, 17. first freedom motor test prototype rotating shafts, 18. second freedom motor test prototype rotating shafts.
Specific embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of robot bionic eyeball two-freedom hybrid type stepping motor, when the present invention is used as two-phase two-freedom
During hybrid type stepping motor, motor overall structure as shown in figure 1, include the first freedom motor 1, the second freedom motor 2,
Output shaft 3 and base 4, as shown in Figure 2 and Figure 3.Electric machine structure exploded view shown in Fig. 4, Fig. 5, each freedom motor
Including rotor portion and stationary part, rotor portion includes the not magnetic conduction rotor field spider 6 of cylinder, annular permanent magnet 8 and its two
Two sections of annulars of side laminate rotor core 7, are evenly arranged some little teeth outside rotor core 7, the little tooth on two-stage rotor iron core 7
Mutually wrong 1/2 tooth pitch, permanent magnet 8, rotor core 7 and not magnetic conduction rotor field spider 6 be provided with the opening of formed objects, permanent magnet 8 He
Rotor core 7 is sleeved on not magnetic conduction rotor field spider 6 so that the aperture position alignment of three；Stationary part includes arc and laminates
Stator core 5, bearing 9, bearing holder (housing, cover) axle 10 and stator winding 11, the radian of stator core 5 is more than 180 °, but is less than rotor core
7 radian, stator core 5 inner circumferential is distributed with magnetic pole, is provided with stator winding 11 in interpolar groove, is distributed with and turns on the pole shoe of magnetic pole
The little tooth of the little tooth tooth pitch identical stator of son；The stator core 5 of described two freedom motors is provided with bearing 9 and bearing holder (housing, cover) axle
10, the central axis of all bearings of each freedom motor 9 and bearing holder (housing, cover) axle 10 is located at same cylindrical plane, and bearing 9 is led with not
Mechanical engagement mode between magnet rotor support 6 is interference fit；Rotor core 7 and permanent magnet 8 pass through not magnetic conduction rotor field spider
6th, bearing 9, bearing holder (housing, cover) axle 10 and stator core 5 are fixed together, and are provided between stator core 5 internal diameter and rotor core 7 external diameter
A certain size air gap separation；The stator core 5-1 of described first freedom motor 1 is fixing with base 4, the second freedom motor 2
Stator core 5-2 center be provided with output shaft 3, output shaft 3 can connect load equipment.
The inside and outside footpath of described two freedom motor rotor cores 7 is identical, the rotor core 7 of two motors and permanent magnet 8
It is fixed together so that the stator and rotor central axis X axle of the first freedom motor 1 by not magnetic conduction rotor field spider 6 perpendicular quadrature
With the stator and rotor central axis Y-axis perpendicular quadrature of the second freedom motor 2, intersection point is the centre of sphere of spherical motor；
The diameter of described not magnetic conduction rotor field spider 6 central cylindrical portion and both sides column part respectively with rotor core 7
Internal diameter is identical with external diameter, not magnetic conduction rotor field spider 6 both sides column part smooth surface, can provide sliding rail for bearing 9.
It is as follows that the present invention realizes two-freedom operation logic：As shown in Fig. 4, Fig. 6, the stator department of the first freedom motor 1
(including stator core 5-1, bearing 9-1, bearing holder (housing, cover) axle 10-1 and stator winding 11-1,11-2,11-3,11-4) is divided to pass through base
4 maintain static, and when the order that two-phase stator winding presses (+A) (+B) (- A) (- B) is energized, rotor portion (includes not
Magnetic conduction rotor field spider 6-1 and 6-2, rotor core 7-1 and 7-2, permanent magnet 8-1) can be turned about the X axis by bearing 9-1, and energy
Output shaft 3 and the second freedom motor 2 is enough driven to turn about the X axis, as shown in Figure 1.On this basis, when the second freedom motor
When 2 two-phase stator winding (including 11-5,11-6,11-7,11-8) is energized by the order of (+A) (+B) (- A) (- B),
Second freedom motor 2 stationary part (include stator core 5-2, bearing 9-2, bearing holder (housing, cover) axle 10-2 and stator winding 11-5,
11-6,11-7,11-8) can be rotated around Y-axis by bearing 9-2, and drive output shaft 3 to rotate around Y-axis, as shown in Figure 5, Figure 7.Cause
This, output shaft 3 can rotate rotating around X-axis, Y-axis under the first freedom motor 1, the second freedom motor 2 drive, and two
The motion of freedom motor 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 constant and for integral spherical motor the centre of sphere, and the central axis of output shaft 3 pass through the centre of sphere, therefore turn in motor
During dynamic, output shaft 3 terminal point is constant to the constant distance of the centre of sphere, and that is, the running orbit of output shaft 3 terminal point is all the time
On same sphere 12, running orbit scope is limited to the extreme rotational angular range of two freedom motors.Wherein, first
θ in the extreme rotational angle of freedom motor 1 such as Fig. 81Shown, in the extreme rotational angle such as Fig. 9 of the second freedom motor 2
θ2Shown.With two freedom motor extreme rotational angle, θ1=θ2=45 °, the step angle (machine that every step run one step turns over
Tool angle) as a example 1.8 °, the operation area of output shaft 3 terminal point is included in 45 ° of warps 13 of east longitude, 45 ° of parallels of south latitude just
14,45 ° of parallels 15 of west longitude, within the scope of the spherical area that 45 ° of parallels 16 of north latitude are surrounded, as shown in Figure 10, this sphere area
Dot matrix in the range of domain is all positions in space that output shaft 3 terminal point can reach.As seen from Figure 10, the step of motor
Elongation is less, then in dot matrix, adjacent 2 points of spherical distance is nearer, represents that the positioning precision of output shaft 3 terminal point is higher.Real
In the middle of border, (it is existing skill that hybrid type stepping motor adopts electric current Multi-level microstep mode generally to adopt electric current Multi-level microstep mode
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 is 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 condition
Under be very high positioning precision.
The present invention is typically used as two-phase and three phase motor structure, and Fig. 6, Fig. 7 are used as during two-phase motor for the present invention
Stator winding wiring schematic diagram, Figure 11, Figure 12 are used as stator winding wiring schematic diagram during threephase motor for the present invention.Stator
Winding 11 is concentratred winding, is wrapped on the magnetic pole of stator core 5, same phase stator winding is wrapped in adjacent two stator magnet
Extremely go up and coiling is in opposite direction, A phase stator winding 11-9, the 11- in A phase stator winding 11-1,11-2 and Figure 11 in such as Fig. 6
Shown in 10, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle；There is the adjacent two-phase in identical coiling direction
Two magnetic pole of the stator that stator winding is located mutually stagger (j+0.5/m) θrMechanical angle.Wherein, k and j is positive integer and k<J,
M is the stator winding number of phases, θrFor rotor tooth elongation (mechanical angle), the selection of k and j need to ensure between two neighboring magnetic pole of the stator
Leave a certain size space, embed stator winding to facilitate.For example, A phase stator winding 11-1 and 11-2 in Fig. 6 is located
Two magnetic pole of the stator mutually stagger (6+0.5) θr(θr=7.2 °), A phase stator winding 11-1 and B phase stator winding 11-3 is located
Two magnetic pole of the stator mutually stagger (13+0.5/2) θr；Two stators that A phase stator winding 11-9 and 11-10 in Figure 11 is located
Magnetic pole mutually staggers (4+0.5) θr(θr=7.2 °), two of A phase stator winding 11-9 and B phase stator winding 11-11 place are fixed
Sub- magnetic pole mutually staggers (9+0.5/3) θr.
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 experimental study, 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
1st, Fig. 2, Fig. 3, Figure 13, Figure 14 illustrate building method and performance test and the experimental study side of test prototype of the present invention
Method.Motor of the present invention overall (as Fig. 1) can split into separate two freedom motor, and that is, the first freedom motor 1 is (such as
Fig. 2) He the second freedom motor 2 (as Fig. 3), and test prototype can be constructed respectively and carry out experiment test.Wherein, for
As shown in figure 13, specific configuration method is as follows for the test prototype of single-degree-of-freedom 1 construction：(1) keep the chi of the first freedom motor 1
Under very little structure permanence condition, the open area of its rotor portion is supplemented completely so that rotor portion becomes complete column structure；
(2) add spindle portion (can be double shafts or single shaft) in rotor portion center.Survey for second free degree 2 construction
As shown in figure 14, specific configuration method is as follows for sample machine：(1) keep under the dimensional structure permanence condition of the second freedom motor 2,
The open area of its rotor portion is supplemented completely so that rotor portion becomes complete column structure, simultaneously by its stator core
The outside in 5-2 yoke portion is designed to the outside identical shape with the first freedom motor 1 stator core 5-1 yoke portion；(2) in rotor
Add spindle portion (can be double shafts or single shaft) at portion centers；(3) mounting seat 4 on stator core 5-2.For
The test prototype of two freedom motors, when the order that two-phase stator winding presses (+A) (+B) (- A) (- B) is energized,
Model machine can rotate as common hybrid type stepping motor, thus can carry out a series of performance tests and experimental study, main
Including：(1) carry out no load test, no-load back electromotive force under certain rotating speed for the metrical prototype, to verify model machine zero load electromagnetism
The accuracy of design and reasonability；(2) carry out static load experiment, the torque angle displacement characteristic of metrical prototype, to verify model machine load feelings
The accuracy of static torque design and reasonability under condition；(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) carry out electric motor starting experiment, survey
The zero load of amount model machine and the maximum starting frequency of load, to determine the starting speed scope of model machine；(5) carry out open loop operation positioning accurate
Degree test experiments, by installing encoder or angular transducer in model machine rotating shaft, can be with the angle of metrical prototype actual rotation
Numerical value (can carry out multigroup measurement) in the case of different loads, by the theoretical value under this measured value and opened loop control service condition
Value (the total umber of pulse of driver output is multiplied by model machine step angle) is compared, and can carry out error analysis, 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 (10)
1. a kind of robot bionic eyeball two-freedom hybrid type stepping motor, is characterized in that：Including the first free degree electricity
Machine, the second freedom motor and output shaft, wherein, described first freedom motor is the circular ring with a breach, institute
Stating the second freedom motor is the circular ring with an opening, and described breach is adapted with opening so that two motors
Place plane perpendicular orthogonal；
Described first freedom motor, the second freedom motor all include stator and rotor, frame bore and rotor core
It is provided with a certain size air gap separation, rotor and stator can occur phase in the place plane of affiliated freedom motor between external diameter
To motion, the stator and rotor central axis of described first freedom motor and the stator and rotor central axis of the second freedom motor hang down
Directly orthogonal, intersection point is the centre of sphere of spherical motor；
By two freedom motor each self-movements, realize the output shaft end points being disposed therein on one degree of freedom motor
To the two-freedom motion that the constant distance of the centre of sphere is constant.
2. a kind of robot bionic eyeball two-freedom hybrid type stepping motor as claimed in claim 1, is characterized in that：
Described first freedom motor is identical with the second freedom motor structure, all includes rotor portion and stationary part, rotor portion
Including cylindrical not magnetic conduction rotor field spider, annular permanent magnet and the annular that is arranged on permanent magnet both sides laminates rotor core, institute
State and outside rotor core, be evenly arranged some little teeth；Stationary part includes arc laminating stator cores and stator winding, stator iron
Magnetic pole is distributed with intracardiac week, in interpolar groove, is provided with stator winding, the little tooth of stator is distributed with the pole shoe of magnetic pole.
3. a kind of robot bionic eyeball two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：
Described permanent magnet, rotor core and not magnetic conduction rotor field spider be provided with the opening of formed objects, permanent magnet and rotor core suit
So that the aperture position of three aligns on not magnetic conduction rotor field spider.
4. a kind of robot bionic eyeball two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：
If described stator core is provided with dry bearing and bearing holder (housing, cover) axle, the central shaft of all bearings of each freedom motor and bearing holder (housing, cover) axle
Line is located at same cylindrical plane, and the mechanical engagement mode between bearing and not magnetic conduction rotor field spider is interference fit.
5. a kind of robot bionic eyeball two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：
Little tooth in the two ends rotor core of described rotor portion mutually wrong 1/2 tooth pitch；The tooth pitch of the little tooth of described stator and rotor little tooth tooth
Away from identical.
6. a kind of robot bionic eyeball two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：
During construction two-freedom hybrid type stepping motor, carry out the no load test of two motors, static load is tested, steady state load is real
Test, start experiment and open loop operation positioning precision test experiments, to determine static under respective zero load electromagnetism, loading condition turning
Square, the optimum operation range of speeds, starting speed scope and open loop operation positioning precision.
7. a kind of robot bionic eyeball two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：
Described stator core radian is more than 180 °, and is less than rotor core radian.
8. a kind of robot bionic eyeball two-freedom hybrid type stepping motor as claimed in claim 1, is characterized in that：
The stator core of described first freedom motor is maintained static by base, and rotor portion passes through bearing and not magnetic conduction rotor field spider
Rotate around stationary part；
, with the rotor portion synchronous axial system of the first freedom motor, pivot center and first is certainly for described second freedom motor entirety
By the stator and rotor central axes of degree motor, the stationary part of the second freedom motor rotates around the rotor portion of itself, turns
Shaft line is orthogonal with the stator and rotor central axis upright of the first freedom motor.
9. a kind of robot bionic eyeball two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：
Described stator winding is concentratred winding, is wrapped on the magnetic pole of stator core, same phase stator winding is wrapped in adjacent two
On magnetic pole of the stator and coiling is in opposite direction, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle, has identical
Two magnetic pole of the stator that the adjacent two-phase stator winding in coiling direction is located mutually stagger (j+0.5/m) θrMechanical angle, k and j
For positive integer and k<J, m are the winding number of phases, θrFor rotor tooth elongation.
10. a kind of robot bionic eyeball, is characterized in that：Including spherical structure two as claimed in any one of claims 1-9 wherein
Free degree hybrid type stepping motor.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109682285A (en) * | 2018-12-24 | 2019-04-26 | 重庆市计量质量检测研究院 | More ball free-assembling tooth pitch templates and adjusting process |
| 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 |
| TWI719585B (en) * | 2019-08-14 | 2021-02-21 | 張量科技股份有限公司 | Motor and driving method the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020050747A1 (en) * | 2000-10-30 | 2002-05-02 | Minebea Co., Ltd. | Stepping motor |
| JP2003299275A (en) * | 2002-04-03 | 2003-10-17 | Yazaki Corp | Rotor and die for molding rotor |
| CN101010859A (en) * | 2004-08-31 | 2007-08-01 | 日本精机株式会社 | Magnet rotor, movable magnet-type instrument, and stepping motor |
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| US20020050747A1 (en) * | 2000-10-30 | 2002-05-02 | Minebea Co., Ltd. | Stepping motor |
| JP2003299275A (en) * | 2002-04-03 | 2003-10-17 | Yazaki Corp | Rotor and die for molding rotor |
| CN101010859A (en) * | 2004-08-31 | 2007-08-01 | 日本精机株式会社 | Magnet rotor, movable magnet-type instrument, and stepping motor |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109682285A (en) * | 2018-12-24 | 2019-04-26 | 重庆市计量质量检测研究院 | More ball free-assembling tooth pitch templates and adjusting process |
| CN109682285B (en) * | 2018-12-24 | 2020-07-24 | 重庆市计量质量检测研究院 | Multi-ball freely-assembled tooth pitch sample plate and adjusting method |
| 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 |
| WO2020249061A1 (en) * | 2019-06-12 | 2020-12-17 | 北京航空航天大学 | Compact bionic eye device based on electromagnetically-driven rotating mechanism having two degrees of freedom |
| 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 |
| US11888346B2 (en) | 2019-06-12 | 2024-01-30 | Beihang University | Compact bionic eye device based on two-degree-of-freedom electromagnetically-driven rotating mechanism |
| TWI719585B (en) * | 2019-08-14 | 2021-02-21 | 張量科技股份有限公司 | Motor and driving method the same |
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| CN106451994B (en) | 2018-08-31 |
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