CN109617360B - Multi-freedom-degree rotation and linear compound motion motor - Google Patents
Multi-freedom-degree rotation and linear compound motion motor Download PDFInfo
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- CN109617360B CN109617360B CN201910016150.4A CN201910016150A CN109617360B CN 109617360 B CN109617360 B CN 109617360B CN 201910016150 A CN201910016150 A CN 201910016150A CN 109617360 B CN109617360 B CN 109617360B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/18—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with coil systems moving upon intermittent or reversed energisation thereof by interaction with a fixed field system, e.g. permanent magnets
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Abstract
The invention provides a multi-degree-of-freedom rotation and linear compound motion motor, and relates to the technical field of multi-degree-of-freedom motors. The multi-degree-of-freedom rotating motor is characterized in that an output shaft of the multi-degree-of-freedom rotating motor is a primary stage of a linear motor, the primary stage is matched with a secondary stage of the linear motor, a relative motion guide mechanism is arranged between the primary stage and the secondary stage, and an output structure is arranged on the secondary stage. The composite motor solves the technical problems of large volume, complicated structure, inconvenient control and the like in the prior art, and has the characteristics of simple and compact structure, high response speed, high operation precision, small abrasion, large output torque, strong output thrust and good static and dynamic performance.
Description
Technical Field
The invention relates to the technical field of motors with multiple degrees of freedom.
Background
In many application occasions, if multi-degree-of-freedom motion is to be realized, the multi-degree-of-freedom motion can only be completed through mechanical combination of a plurality of single-degree-of-freedom motors, so that the overall size of the motor is increased, a strong coupling effect can be generated, and great difficulty is brought to the control of the motor.
The multi-degree-of-freedom motor solves the problems, can enable the motor output shaft to move in multiple directions to a certain extent, but a general multi-degree-of-freedom motor only can perform rotation and deflection movement, and not only can the rotation and deflection movement be realized by a moving machine in the fields of automation factories or robot control and the like, but also the linear movement is greatly required. If the rotation, deflection and linear compound motion is to be realized, the traditional solution can only directly connect the multi-freedom-degree motor and the linear motor through a mechanical device, so that the mechanical error is increased, the size is large, the high-speed and high-precision positioning is not easy to realize, and the requirements cannot be met in some occasions with high precision requirements. Therefore, in order to solve the above problems, it is important to provide a multiple degree of freedom motor having a compact structure, high positioning accuracy, large output torque, high thrust density, and a compound motion function.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom rotation and linear compound motion motor to solve the technical problems of large volume, complex structure, inconvenient control and the like in the prior art.
In order to achieve the above purposes, the invention adopts the technical scheme that: the multi-degree-of-freedom rotation and linear compound motion motor comprises a multi-degree-of-freedom rotation motor structure and is characterized in that an output shaft of the multi-degree-of-freedom rotation motor structure is a primary stage of the linear motor structure, a secondary stage of the primary stage and a secondary stage of the linear motor structure are matched, a relative motion guide mechanism is arranged between the primary stage and the secondary stage, and an output structure flange plate is arranged on the secondary stage.
Preferably, the multiple degree of freedom rotary and linear compound motion motor according to claim 1, wherein: the linear motor is a high-thrust linear motor, and a primary winding or a primary winding and a permanent magnet are distributed on the primary; secondary permanent magnets are distributed on the inner side of the secondary to form a pair of primary and secondary kinematic pairs; the number of the primary and secondary kinematic pairs is more than 2, or the cross section of the combined surface of the primary and secondary kinematic pairs is a closed figure; the secondary is distributed around the primary; the current of the primary winding on the primary of the kinematic pair is controlled to make the kinematic pair move relatively, so that high thrust and torque are generated.
Preferably, the 2 pairs of kinematic pairs form a plane coupling type or a curved surface coupling type.
Preferably, the primary axis is a straight line, and the 2 pairs of kinematic pairs and the thrust are symmetrical about the primary axis.
Preferably, the number of the 2 pairs or more of kinematic pairs is 3, and the structure is as follows: the primary is distributed with three concave surfaces and three small convex surfaces along the circumferential direction, a primary iron core and a primary winding are distributed in the concave surfaces, the secondary convex surfaces are opposite to the primary concave surfaces, a plurality of secondary permanent magnets are distributed on the secondary convex surfaces, and the thrust of linear motion is increased by increasing the relative area of the primary iron core and the secondary permanent magnets; the speed and position of the secondary operation are obtained by a sensorless solution.
Preferably, a relative motion guide mechanism is arranged between the primary and the secondary, two rows of balls, namely a first row of balls and a second row of balls, are embedded in each convex surface of the primary, the convex surface of the primary is opposite to the concave surface of the secondary, two rows of guide grooves, namely a first row of guide grooves and a second row of guide grooves, are distributed in each concave surface of the secondary, the first row of guide grooves corresponds to the first row of balls, the second row of guide grooves corresponds to the second row of balls, and the primary and the secondary are connected through the first row of balls and the second row of balls, so that friction can be effectively reduced, and a mechanical limiting effect is achieved;
preferably, the lower end of the secondary is provided with three secondary bottom bolts, and the secondary bottom bolts are fixed on the secondary through bolts and secondary fixing screw holes by bolts.
Preferably, the lower end of the primary is provided with 6 primary winding external power supply lead holes, and the primary winding is connected with an external power supply through the primary winding external power supply lead holes at the bottom of the primary;
preferably, the multi-degree-of-freedom rotating motor comprises a (motor) shell, a stator and a rotor, wherein the stator comprises a stator core, a stator winding and a magnetic sensor, is in a concave spherical shape and is fixed at the bottom of the (motor) shell through a stator and shell fixing bolt; the magnetic sensor measures the position and speed of the rotor through a corresponding detection circuit to realize closed-loop control; the upper end of the rotor is connected with a ball bearing; the surface of the lower end of the rotor is in a convex spherical shape, four rotor permanent magnets are distributed on the surface of the lower end of the rotor, and the rotor permanent magnets are in a convex spherical shape; the magnetizing directions of the permanent magnets of the adjacent rotors are opposite, so that the rotors can realize rotation and deflection motion.
Preferably, the detection circuit comprises an external power supply, a signal acquisition circuit and a DSP digital controller.
Preferably, the speed and position of the secondary during operation are obtained by a sensorless scheme, and the sensorless scheme is realized by an external current sensor, a signal acquisition circuit and a DSP digital controller.
Preferably, the sensorless scheme comprises an external current sensor, a signal acquisition circuit and a DSP digital controller, wherein the external current sensor connected with the primary is connected with the signal acquisition circuit, the signal acquisition circuit is connected with the DSP digital controller, the DSP digital controller is connected with a linear motor driver, and the output of the linear motor driver is connected with the primary winding.
The detection circuit comprises an external power supply, a signal acquisition circuit and a DSP digital controller, the sensorless scheme is realized by an external current sensor, the signal acquisition circuit and the DSP digital controller, the DSP digital controller in the detection circuit and the DSP digital controller in the sensorless scheme output control signals, the control signals of the DSP digital controller and the DSP digital controller are received by the cooperative control card, and finally the multi-degree-of-freedom motion and the linear motion are coordinated through a coordination control algorithm built in the cooperative control card.
Since the motor has two forms of motion, a coordinated motion control card is required for coordination. In the control process, a magnetic sensor positioned on the stator detects the change information of an air gap magnetic field between the stator and the rotor, outputs a digital signal, inputs the digital signal into a DSP digital controller for processing to obtain the rotating speed and position information of the rotor (12), and inputs the processing result into a cooperative control card; an external current sensor connected with a primary winding of the motor detects the current in the primary winding, current signals are input to a DSP digital controller, the speed and the position of a secondary side are obtained through calculation of a position-sensorless algorithm, and the speed and position signals are input to a cooperative control card; the cooperative control card coordinates current commands and signals output by the two DSP digital controllers through a control algorithm, finally outputs control currents required by the multi-degree-of-freedom motion and the linear motion, respectively inputs the control currents into a multi-degree-of-freedom motor driver and a linear motor driver for controlling the two motions, and the multi-degree-of-freedom motor driver and the linear motor driver output corresponding drive currents to control the motors to work.
The invention has the technical effects that: the composite motor has the characteristics of compact structure, high response speed, high running precision, small abrasion, high thrust density, simple control, large output torque, strong output thrust and good static and dynamic performances. Compared with the traditional scheme for realizing the same function, the motor has smaller volume, and because the moving part of the motor adopts rolling connection, the motor has smaller friction resistance and less energy loss compared with most of motors adopting sliding connection. Adopt this motor to upgrade to manufacturing equipment, not only can reduce cost, can raise the efficiency moreover. Because the motor has a simple structure, the motor is more convenient to update and maintain.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a cross-sectional view of fig. 1.
Fig. 3 is a schematic perspective view of the primary stage of fig. 2.
Fig. 4 is a schematic diagram of a three-dimensional structure of the position distribution of the external power supply lead holes of the primary winding in fig. 3.
Fig. 5 is a schematic perspective view of the primary winding of fig. 3.
Fig. 6 is a perspective view of the secondary stage of fig. 2.
Fig. 7 is a schematic perspective view of a third stage.
Fig. 8 is a top view of the primary and secondary assemblies.
Fig. 9 is a schematic perspective view of the flange plate of fig. 2.
Fig. 10 is a perspective view of the secondary bottom latch of fig. 6.
Fig. 11 is a perspective view of the end cap of fig. 2.
Fig. 12 is a perspective view of the ball bearing of fig. 2.
FIG. 13 is a perspective view of the connection ring between the housing and the end cap in FIG. 2
Fig. 14 is a schematic perspective view of the rotor and the rotor permanent magnets in fig. 2.
Fig. 15 is a schematic perspective view of the stator in fig. 2.
Fig. 16 is a schematic perspective view of the stator core and the stator winding of fig. 13.
FIG. 17 is a control flow diagram for a digital controller employing a cooperating control card and DSP.
The reference numerals in the drawings mean:
1-primary, 2 a-flange and secondary fixing bolt, 2 b-end cover and connecting ring fixing bolt, 2 c-case and connecting ring fixing bolt, 2 d-bolt and secondary fixing screw hole, 2 e-stator and case fixing bolt, 3-secondary, 4-flange, 5-flange and secondary fixing screw hole, 6-end cover, 7- (motor) case, 8-secondary permanent magnet, 9-ball bearing, 10-connecting ring, 11-stator, 12-rotor, 13 a-first row of balls, 13 b-second row of balls, 14-primary iron core, 15-primary winding, 16 a-first row of guide groove, 16 b-second row of guide groove, 17-magnetic sensor, 18-secondary bottom bolt, 19-secondary and flange fixing screw hole, 20-rotor permanent magnet, 21-stator iron core, 22-stator winding, 23-stator winding external power supply lead hole, 24-end cap inner ball, 25-primary winding external power supply lead hole.
Detailed Description
The drawings are only for purposes of illustrating examples and are not to be construed as limiting the patent; for a better understanding of the present embodiments, certain elements of the drawings may be omitted, enlarged or reduced, as would be understood by one of ordinary skill in the art. The following detailed description of the present patent refers to the accompanying drawings.
Referring to the attached drawings 1-2, as a specific embodiment of the present invention, the multiple degree of freedom rotation and linear compound motion motor comprises a multiple degree of freedom rotation motor structure, and is characterized in that an output shaft of the multiple degree of freedom rotation motor structure is a primary 1 of the linear motor structure, the primary 1 is matched with a secondary 3 of the linear motor structure, a relative motion guide mechanism is arranged between the primary 1 and the secondary 3, and the secondary 3 is provided with an output structure.
The composite motor has the characteristics of compact structure, high response speed, high running precision, small abrasion, large output torque, strong output thrust and good static and dynamic performance.
As one embodiment of the present invention. Preferably, the multiple degree of freedom rotary and linear compound motion motor according to claim 1, wherein: the linear motor is a high-thrust linear motor, and a primary winding 15 or a primary winding 15 and a permanent magnet are distributed on the primary 1; the inner side of the secondary 3 is distributed with a secondary permanent magnet 8 to form a pair of primary 1 and secondary 3 kinematic pairs; more than 2 pairs of the primary 1 and secondary 3 kinematic pairs are provided, or the cross section of the joint surface of the primary 1 and secondary 3 kinematic pairs is a closed figure; the secondary 3 is distributed around the primary 1; the current of the primary winding 15 on the primary 1 of the kinematic pair is controlled to make the kinematic pair move relatively, so that large thrust and torque are generated.
As one embodiment of the present invention. Preferably, the 2 pairs of kinematic pairs form a plane coupling type or a curved surface coupling type.
As one embodiment of the present invention. Preferably, the primary 1 axis is a straight line, and the 2 pairs of kinematic pairs and the thrust are symmetrical about the primary 1 axis straight line. Is convenient to use. The primary 1 axis may also be curved or arced.
As one embodiment of the present invention. Preferably, the number of the 2 pairs or more of kinematic pairs is 3, and the structure is as follows: the primary 1 is distributed with three concave surfaces and three small convex surfaces along the circumferential direction, a primary iron core 14 and a primary winding 15 are distributed in the concave surfaces, the convex surface of the secondary 3 is opposite to the concave surface of the primary 1, a plurality of secondary permanent magnets 8 are distributed on the convex surface, and the thrust of linear motion is increased by increasing the relative area of the primary iron core 14 and the secondary permanent magnets 8; the speed and position at which the secondary 3 operates are obtained by a sensorless solution.
As one embodiment of the present invention. Preferably, the relative motion guide mechanism arranged between the primary 1 and the secondary 3 comprises that two rows of balls, namely a first row of balls 13a and a second row of balls 13b, are embedded in each convex surface of the primary 1, the convex surface of the primary 1 is opposite to the concave surface of the secondary 3, two rows of guide grooves, namely a first row of guide grooves 16a and a second row of guide grooves 16b, are distributed in each concave surface of the secondary 3, the first row of guide grooves 16a correspond to the first row of balls 13a, the second row of guide grooves 16b correspond to the second row of balls 13b, and the primary 1 and the secondary 3 are connected through the first row of balls 13a and the second row of balls 13b, so that friction can be effectively reduced and a mechanical limiting effect can be achieved;
as one embodiment of the present invention. Preferably, the lower end of the secondary 3 is provided with three secondary bottom bolts 18, and the secondary bottom bolts 18 are fixed on the secondary 3 by bolts through bolts and the secondary fixing screw holes 2 d.
As one embodiment of the present invention. Preferably, the lower end of the primary 1 is provided with 6 primary winding external power supply lead holes 25, and the primary winding 15 is connected with an external power supply through the primary winding external power supply lead holes 25 at the bottom of the primary 1;
as one embodiment of the present invention. Preferably, the multiple-degree-of-freedom rotating electrical machine comprises a (electrical machine) casing 7, a stator 11 and a rotor 12, wherein the stator 11 comprises a stator core 21, a stator winding 22 and a magnetic sensor 17, the stator 11 has a concave spherical shape, and is fixed at the bottom of the (electrical machine) casing 7 through a stator and casing fixing bolt 2 e; the magnetic sensor 17 measures the position and speed of the rotor 12 through a corresponding detection circuit to realize closed-loop control; the upper end of the rotor 12 is connected with the ball bearing 9; the surface of the lower end of the rotor 12 is in a convex spherical shape, four rotor permanent magnets 20 are distributed on the surface of the lower end, and the rotor permanent magnets 20 are in a convex spherical shape; the adjacent rotor permanent magnets 20 have opposite magnetizing directions, so that the rotor 12 can realize rotation and deflection motion. The device has the characteristics of simple and compact structure, high response speed and high operation precision.
As one embodiment of the present invention. Preferably, the detection circuit comprises an external power supply, a signal acquisition circuit and a DSP digital controller.
As one embodiment of the present invention. Preferably, the speed and position of the secondary 3 during operation are obtained by a sensorless scheme, and the sensorless scheme is realized by an external current sensor, a signal acquisition circuit and a DSP digital controller.
As one embodiment of the present invention. Preferably, the sensorless scheme comprises an external current sensor, a signal acquisition circuit and a DSP digital controller, wherein the external current sensor connected with the primary winding 1 is connected with the signal acquisition circuit, the signal acquisition circuit is connected with the DSP digital controller, the DSP digital controller is connected with a linear motor driver, and the output of the linear motor driver is connected with the primary winding 15. The DSP digital controller in the detection circuit and the DSP digital controller in the sensorless scheme output control signals, the cooperative control card receives the control signals of the DSP digital controller and the DSP digital controller, and finally the multi-degree-of-freedom motion and the linear motion are coordinated through a coordination control algorithm built in the cooperative control card.
As one embodiment of the present invention. Referring to fig. 3 to 5, the primary 1 is in a cylindrical distribution, the surface of the primary 1 has three concave surfaces and three convex surfaces, a plurality of primary cores 14 and a plurality of primary windings 15 are distributed in the concave surfaces, and in order to make the primary windings 15 tightly attached to the inner sides of the concave surfaces, the primary cores 14 are designed to be wide at the outer part and narrow at the inner part.
In order to make the secondary 3 run smoothly, each convex surface of the primary 1 is provided with two rows of balls, a first row 13a and a second row 13b, which have the function of reducing the friction between the primary 1 and the secondary 3 and also have the function of supporting the secondary 3; at the lower end of the primary 1, 6 primary winding external power supply lead holes 25 are provided.
Referring to the attached drawings 6 and 10, the upper end of the secondary 3 is connected with a flange 4 through a flange and a secondary fixing bolt 2a, three convex surfaces and three concave surfaces are distributed in the secondary 3 and respectively correspond to the primary 1, a plurality of secondary permanent magnets 8 are distributed on each convex surface, when a primary winding 15 in the primary 1 is electrified, a traveling magnetic field is generated in the space, the traveling magnetic field and a static magnetic field generated by the secondary permanent magnets 8 act to generate thrust, a primary iron core 14 is designed into a concave surface, the relative area of the primary winding 15 and the secondary permanent magnets 8 is increased, and the thrust generated by a motor under the same volume is increased; two rows of guide grooves, a first row of guide grooves 16a and a second row of guide grooves 16b are distributed on each concave surface, the first row of guide grooves 16a corresponds to the first row of balls 13a, and the second row of guide grooves 16b corresponds to the second row of balls 13 b.
The upper end and the lower end of the first row of guide grooves 16a are not communicated, and the first row of guide grooves and the first row of balls 13a play a role in mechanical limiting of the upper end and the lower end together; the upper end of the second row of guide grooves 16b is not penetrated, the lower end is penetrated, and the second row of guide grooves and the second row of balls 13b play a role of mechanical limit of the upper end together.
For the convenience of installation, a secondary bottom bolt 18 is arranged at the lower end of the 3 groups of guide grooves, three secondary bottom bolts 18 at the bottom of the secondary 3 are firstly taken down during installation, the secondary 3 is sleeved in the primary 1, and then the secondary bottom bolts 18 are fixed on the secondary 3 through bolts and secondary fixing screw holes 2d by using bolts.
Referring to fig. 11 and 12, end cover inner balls 24 are distributed in the end cover 6, the ball bearing 9 is connected with the end cover 6 through the end cover inner balls 24, the upper end of the ball bearing 9 is connected with the primary 1, and the lower end of the ball bearing is connected with the rotor 12.
Referring to fig. 14, the lower end of the rotor 12 is a convex spherical surface, 4 rotor permanent magnets 20 are distributed on the surface, the magnetizing directions of two adjacent rotor permanent magnets 20 are opposite, and the rotor 12 can realize rotation and deflection motion by applying different energizing strategies to the stator winding 22.
Referring to fig. 15 and 16, the stator 11 is a concave spherical surface, and includes a stator core 21 and a stator winding 22, the side of the (motor) casing 7 is provided with 4 stator winding external power supply lead holes 23 for connecting an external power supply to the stator winding 22, and the stator 11 is fixed at the bottom of the (motor) casing 7 by a stator and casing fixing bolt 2 e.
The primary 1 and the rotor 12 are connected to the ball bearing 9 by means of a screw thread. The connection ring 10 connects the end cover 6 and the (motor) casing 7 together through the end cover and connection ring fixing bolts 2b and the casing and connection ring fixing bolts 2 c.
The secondary 3 realizes the measurement of the position and the speed thereof by a sensorless scheme in the motion process, the speed and the position of the rotor 12 are measured by a magnetic sensor 17 arranged on the surface of the stator 11, and finally the multi-degree-of-freedom motion and the linear motion are coordinated by a cooperative control card.
The upper ends of the first row of balls 13a and the second row of balls 13b are aligned, the first row of balls 13a is shorter, and the second row of balls 13b is longer; the first row of guide grooves 16a and the second row of guide grooves 16b of the secondary concave surfaces corresponding to the first row of balls 13a and the second row of balls 13b are the same in length, the upper ends of the first row of guide grooves 16a are aligned, and the upper ends and the lower ends of the first row of guide grooves 16a are closed to play a role of mechanical limiting at the upper end and the lower end together with the first row of balls 13 a; the upper end of the second row of guide grooves 16b is closed, and the lower end is open, and the second row of guide grooves mainly play a role in supporting the secondary stage 3 in the linear motion process.
The primary 1 and the secondary 3 jointly form a linear motion part, the ball bearing 9, the stator 11 and the rotor 12 jointly form a multi-degree-of-freedom motion part, and the linear motion part and the multi-degree-of-freedom motion part jointly form a multi-degree-of-freedom rotation and linear compound motion motor control structure.
In operation, as shown in fig. 2, alternating current with a frequency and an effective value meeting the requirements is supplied to the primary winding 15 on the primary 1, and a traveling wave magnetic field is generated around the primary winding 15. The secondary permanent magnet 8 attached to the inner side of the secondary 3 generates a static magnetic field in space, and the traveling wave magnetic field and the static magnetic field generate relative motion, so that thrust is generated on the secondary 3 and linear motion is performed. Since the lower ends of the first row of guide grooves 16a located inside the secondary 3 do not penetrate, the secondary 3 is mechanically restrained when the first row of balls 13a moves to the closed position of the lower ends of the first row of guide grooves 16 a. Because the linear motion part adopts the closed-loop control without the position sensor, sensors are not arranged on the primary 1 and the secondary 3, a current sensor is arranged on a circuit which is connected with the primary winding 15 outside the motor, the current change in the primary winding 15 is acquired in real time through the current sensor, the real-time calculation of the control algorithm without the position sensor is carried out in the DSP digital controller, the required control signal is output, and the control signal is received by the motion control card in cooperation.
The rotor permanent magnet 20 mounted on the rotor 12 generates a static magnetic field in the space, alternating current is introduced into the stator winding 22 on the stator 11, and different forms of moving magnetic fields are generated in the space by changing the energization strategies of different coils. The moving magnetic field interacts with the static magnetic field to generate rotation torque and deflection torque on the rotor 12, and the rotor 12 realizes the rotation motion and the deflection motion of the motor together with the ball bearing 9 and the primary 1. Different energization strategies in the coil are realized by a control algorithm in a DSP digital controller. The inner surface of the stator 11 is attached with a magnetic sensor 17, the magnetic sensor 17 senses the change of the surrounding magnetic field and outputs a change signal in the form of an electric signal, the DSP digital controller receives and processes the signal, outputs a required control signal through an internal closed-loop control algorithm and cooperates with the motion control card to receive the control signal.
The cooperative motion control card coordinates two input control signals through an internal algorithm, respectively outputs driving signals to a driver for controlling the linear motion and the multi-degree-of-freedom rotary motion of the motor, and the multi-degree-of-freedom motor driver and the linear motor driver output final driving current, so that the closed-loop control of the multi-degree-of-freedom rotary motion and the closed-loop control of the linear motion of the motor are realized.
The motor has a simple and compact structure, can realize rotation, deflection and linear motion, is convenient to control and high in positioning precision, and the special-shaped structures of the primary 1 and the secondary 3 increase the thrust of the linear motion under the motor with the same volume. A magnetic sensor 17 is arranged in the motor, the magnetic sensor and an external control circuit jointly act to realize the rotation and deflection closed-loop control of the motor, the closed-loop control of the linear motion of the motor is realized through a current sensor outside the motor and a control algorithm in a digital controller, and finally the purpose of compound motion is achieved by coordinating the motion of the two forms through a cooperative motion control card.
Those skilled in the art will recognize that many other embodiments may be practiced without these specific details.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes, modifications, equivalents, and improvements may be made thereto without departing from the spirit and scope of the invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The multi-degree-of-freedom rotation and linear compound motion motor comprises a multi-degree-of-freedom rotation motor structure, wherein an output shaft of the multi-degree-of-freedom rotation motor structure is a primary (1) of the linear motor structure, the primary (1) is matched with a secondary (3) of the linear motor structure, a relative motion guide mechanism is arranged between the primary (1) and the secondary (3), and the secondary (3) is provided with an output structure;
a primary winding (15) or a primary winding (15) and a permanent magnet are distributed on the primary (1); the inner side of the secondary (3) is distributed with a secondary permanent magnet (8) to form a pair of primary (1) and secondary (3) kinematic pairs; the number of the primary (1) and secondary (3) kinematic pairs is more than 2, and the secondary (3) is distributed around the primary (1);
it is characterized in that the 2 pairs of kinematic pairs form a curved surface combination type;
the number of the 2 pairs of above kinematic pairs is 3, and the structure is as follows: three concave surfaces and three small convex surfaces are distributed on the primary (1) along the circumferential direction, and a primary iron core (14) and a primary winding (15) are distributed in the concave surfaces; the convex surface of the secondary (3) is opposite to the concave surface of the primary (1), a plurality of secondary permanent magnets (8) are distributed on the secondary, and the thrust of linear motion is increased by increasing the relative area of the primary iron core (14) and the secondary permanent magnets (8); the speed and position of the secondary (3) during operation are obtained by a sensorless solution.
2. The multiple degree of freedom rotary and linear compound motion motor of claim 1, further comprising: a relative motion guide mechanism is arranged between the primary (1) and the secondary (3), a first row of balls (13a) and a second row of balls (13b) are embedded in each convex surface of the primary (1), the convex surface of the primary (1) is opposite to the concave surface of the secondary (3), a first row of guide grooves (16a) and a second row of guide grooves (16b) are distributed in each concave surface of the secondary (3) and respectively correspond to the first row of balls (13a) and the second row of balls (13b) of the primary (1), and the primary (1) and the secondary (3) are connected through the first row of balls (13a) and the second row of balls (13b) so that friction can be effectively reduced and mechanical limit can be achieved;
the lower end of the secondary (3) is provided with three secondary bottom bolts (18), and the secondary bottom bolts (18) are fixed on the secondary (3) through bolts and secondary fixing screw holes (2d) by bolts;
the lower end of the primary (1) is provided with 6 primary winding external power supply lead holes (25), and the primary winding (15) is connected with an external power supply through the primary winding external power supply lead holes (25) at the bottom of the primary (1).
3. The multiple degree of freedom rotary and linear compound motion motor according to claim 1 or 2, characterized in that: the multi-degree-of-freedom rotating motor comprises a machine shell (7), a stator (11) and a rotor (12), wherein the stator (11) comprises a stator iron core (21), a stator winding (22) and a magnetic sensor (17), the stator (11) is in a concave spherical shape and is fixed at the bottom of the machine shell (7) through a stator and shell fixing bolt (2 e); the magnetic sensor (17) measures the position and speed of the rotor through a corresponding detection circuit to realize closed-loop control; the upper end of the rotor (12) is connected with the ball bearing (9), and the lower end of the rotor is in a convex spherical shape; the surface of the lower end of the rotor (12) is in a convex spherical shape, four rotor permanent magnets (20) are distributed on the surface of the lower end, and the rotor permanent magnets (20) are in a convex spherical shape; the magnetizing directions of the adjacent rotor permanent magnets (20) are opposite, so that the rotor (12) can realize rotation and deflection motion.
4. The multiple degree of freedom rotary and linear compound motion motor of claim 3, further comprising: the detection circuit comprises an external power supply, a signal acquisition circuit and a DSP digital controller.
5. The multiple degree of freedom rotary and linear compound motion motor of claim 4, further comprising: the speed and the position of the secondary (3) during working are obtained through a sensorless scheme, and the sensorless scheme is realized by an external current sensor, a signal acquisition circuit and a DSP digital controller.
6. The multiple degree of freedom rotary and linear compound motion motor of claim 5, further comprising: the sensorless scheme comprises an external current sensor, a signal acquisition circuit and a DSP (digital signal processor) digital controller, wherein the external current sensor connected with a primary winding (1) is connected with the signal acquisition circuit, the signal acquisition circuit is connected with the DSP digital controller, the DSP digital controller is connected with a linear motor driver, and the output of the linear motor driver is connected with a primary winding (15); the DSP digital controller in the detection circuit and the DSP digital controller in the sensorless scheme output control signals, the cooperative control card receives the control signals of the DSP digital controller and the DSP digital controller, and finally the multi-degree-of-freedom motion and the linear motion are coordinated through a coordination control algorithm built in the cooperative control card.
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