CN102946176A - Two-degree-of-freedom hybrid step motor for bionic eyeballs - Google Patents
Two-degree-of-freedom hybrid step motor for bionic eyeballs Download PDFInfo
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- CN102946176A CN102946176A CN201210529484XA CN201210529484A CN102946176A CN 102946176 A CN102946176 A CN 102946176A CN 201210529484X A CN201210529484X A CN 201210529484XA CN 201210529484 A CN201210529484 A CN 201210529484A CN 102946176 A CN102946176 A CN 102946176A
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Abstract
The invention discloses a two-degree-of-freedom hybrid step motor for bionic eyeballs. The hybrid step motor comprises an inner rotor, an inner stator, an outer rotor, an outer stator and a base; a supporting shaft is arranged on the base, the inner stator is fixedly connected with the supporting shaft, the inner rotor is fixed together with the outer rotor through a longitudinal end cover, an output shaft is arranged in the center of the outer stator, and a two-phase inner stator winding and a two-phase outer stator winding are respectively placed on the inner stator and the outer stator of the motor; the outer stator is arranged on the inner rotor, a connecting rod is matched with an inner hole of a transverse bearing, and an outer ring of the transverse bearing is matched with a nonmagnetic transverse end cover; the outer stator comprises two iron core sections; the outer rotor comprises an arc-shaped permanent magnet and two iron core sections on two sides; the inner rotor comprises an annular permanent magnet, and an iron core section is arranged on each of two sides of the annular permanent magnet; and two mutually orthogonal cylindrical surfaces using a longitudinal shaft and a transverse shaft as axes are respectively machined on the inner tooth end part of the inner rotor and the outer tooth end part of the outer rotor, and the two cylindrical surfaces and the tooth surfaces of the inner stator and the outer stator form concentric cylinders respectively.
Description
Technical field
The present invention relates to a kind of two-freedom composite stepper motor, relate in particular to a kind of bionical eyeball two-freedom composite stepper motor that bionical eyeball moves within the specific limits that is suitable for driving.
Background technology
The multiple degrees of freedom electric tools has mechanical integrated level height, electric machine structure material and driving control system element utilance high, can greatly simplify the structure of mechanical system, reduce volume and weight, the precision of raising system and dynamic property are with a wide range of applications in robot etc. has the system of a plurality of freedoms of motion.Since the eighties, along with the fast development of robot and space technology, the research of multiple degrees of freedom motor and application facet thereof comes into one's own day by day, and research work is very active, and various model machines emerge in an endless stream.From available data, the multiple degrees of freedom motor that Chinese scholars is developed mostly adopts spherical structure, and is comparatively reasonable from the spherical structure of structural principle, but exists such as shortcomings such as complex structure processing difficulties.
In view of spherical structure multiple degrees of freedom electric motor structure complexity and processing difficulties, Harbin Institute of Technology has proposed the altogether two-freedom motor of magnet steel of the two air gaps of a kind of aspheric orthocycle rod structure.Fig. 1 is the STRUCTURE DECOMPOSITION figure of traditional orthocycle rod structure two-freedom motor, and Fig. 2 and Fig. 3 are respectively the structural principle schematic diagrames of two degrees of freedom of this model machine.This motor is comprised of internal stator I 28, internal rotor 25, external rotor I 24, back shaft I 26, base I 27, output shaft I 23, casing 33, a pair of permanent magnet I 31, a pair of horizontal bearing I 22, a vertical bearing I 29.External rotor 24 is formed by silicon steel plate stacking, is evenly arranged some teeth and groove on the inside circumference, and external rotor winding 30, internal rotor winding 32 are set in the groove, and output shaft 23 is arranged on the external rotor top.Internal stator 28 is comprised of the two iron leg hearts, and two iron legs little tooth in the heart is wrong 1/2 tooth pitch mutually.Internal rotor 25 is comprised of the two iron leg hearts of permanent magnet and both sides thereof, and permanent magnet 31 vertical axial chargings arrange the two-phase excitation winding on the two iron leg heart inner tines.Be processed into respectively take transverse axis and the longitudinal axis as two of the axis mutually orthogonal faces of cylinder internal rotor external teeth end and inner teeth end, forms concentric column with external rotor and internal stator tooth surface respectively.Internal rotor and casing are fixed together, and external rotor is installed together by horizontal bearing and casing, thereby external rotor can rotate with respect to casing.Back shaft is installed together by vertical bearing and casing, thereby casing can rotate with respect to back shaft.
The operation principle of traditional orthocycle rod structure two-freedom motor: when two phase windings of external rotor are pressed A-B-(-A)-(when order B) is switched on, magnetic flux Φ 1 forms the closed-loop path through permanent magnet → one section internal rotor iron core → air gap → external rotor iron core → air gap → another section internal rotor iron core → permanent magnet, machine operation is in the permanent-magnet stepping motor state, external rotor rotates around transverse axis with respect to internal rotor, makes output shaft realize elevating movement; When two phase windings of internal rotor are pressed A-B-(-A)-(when order B) is switched on, magnetic flux Φ 2 forms the closed-loop path through permanent magnet → one section internal rotor iron core → air gap → two section internal stator iron core → air gap → another section internal rotor iron core → permanent magnet, machine operation is in the hybrid type stepping motor state, internal rotor together with external rotor with respect to internal stator around vertical axes, make thereupon rotation of output shaft (when output shaft is in vertical position) or side-sway (when output shaft is in deflection state).Magnetic flux Φ 1 and Φ 2 pass through permanent magnet, two sections air gaps are public permanent magnet, i.e. two air gap common permanent magnets, thereby this motor utilizes a permanent magnet, two groups of windings to realize the motion of two degrees of freedom, the motor volume is less, has higher ratio of performance and volume.
Although compare with the spherical structure motor, traditional orthocycle rod structure two-freedom motor is structurally simplified more, easier processing and manufacturing, and volume is less, and there is following problem in it when actual motion:
1. because external rotor works in the permanent-magnet stepping motor state, and its step angle is a pole span angle, and pole span can not be too little in the reality, otherwise winding can't place, thereby step angle is larger, and motor location precision is lower, and motion smoothing is relatively poor; Internal rotor can not continue to rotate by single direction around the longitudinal axis with respect to internal stator together with external rotor in the actual motion, otherwise will cause two phase windings of internal rotor and external rotor to place.
2. simultaneously, require the volume of used two-freedom motor less when driving bionical eyeball, quality is lighter, positioning accuracy is higher, the operation flatness better, and can make eyeball (output shaft terminal) in given range under certain precision along any orbiting motion (comprising that eyeball rotates continuously), and traditional orthocycle rod structure two-freedom motor be not suitable for driving bionical oculomotor.
Summary of the invention
The objective of the invention is for overcoming above-mentioned the deficiencies in the prior art, a kind of bionical eyeball two-freedom composite stepper motor is provided; Can realize driving bionical eyeball within the specific limits under certain precision along any orbiting motion, comprise that eyeball rotates constantly, and can be less than traditional orthocycle rod structure two-freedom motor volume, quality is lighter, positioning accuracy is higher, the operation flatness is better.
To achieve these goals, the present invention adopts following technical scheme:
A kind of bionical eyeball two-freedom composite stepper motor, comprise internal rotor, internal stator, external rotor, external stator, base, base is provided with back shaft, internal stator is fixedly connected with back shaft, back shaft is provided with vertical bearing in two ends up and down, vertically bearing cooperates with the vertical end cap of magnetic conduction not, internal rotor is by the vertical end cap of magnetic conduction and external rotor are not fixed together, the external stator center is provided with output shaft, output shaft place axis and longitudinal axis quadrature are placed respectively internal stator winding, the external stator winding of two-phase on described electric motor internal stator and the external stator; Output shaft is provided with microcam, camera axis and output shaft dead in line; External stator is connected with an end of magnetic conduction connecting rod not, the other end of connecting rod cooperates with the endoporus of horizontal bearing, laterally the outer ring of bearing cooperates with the horizontal end cap of magnetic conduction not, and the horizontal end cap of magnetic conduction is not connected with internal rotor, so that the integral body of external stator and connecting rod formation can be rotated around transverse axis; Described external stator comprises the two iron leg hearts, and along two pairs of utmost points of inside circumference distribution unshakable in one's determination, each extremely is provided with some little teeth, and the two-phase excitation winding is set in the interpolar groove; Described external rotor comprises the two iron leg hearts of arc-shaped permanent magnet and both sides thereof, and the outside unshakable in one's determination is evenly arranged some little teeth, and two iron legs little tooth in the heart is wrong 1/2 tooth pitch mutually; Described internal rotor comprises annular permanent magnet, and the annular permanent magnet both sides are respectively equipped with an iron leg heart, and iron core is four pairs of utmost points circumferentially, and the two-phase excitation winding is set in the interpolar groove, and inside unshakable in one's determination is evenly arranged some little teeth, and the little tooth on the iron core of both sides is wrong 1/2 tooth pitch mutually; Be processed into respectively take the longitudinal axis, transverse axis as two of the axis mutually orthogonal faces of cylinder described internal rotor inner teeth end, external rotor external teeth end, and two faces of cylinder form concentric column with internal stator, external stator tooth surface respectively.
Two circular arc end faces of external stator respectively with the second end face of magnetic conduction connecting rod not by being welded to connect; The external cylindrical surface of the inner arc surface at the horizontal end cap of magnetic conduction two ends and internal rotor is not by being welded to connect, so that the integral body that external stator and connecting rod consist of can be rotated around transverse axis.Described output shaft is provided with microcam, camera axis and output shaft dead in line.
Operation principle of the present invention: when two phase windings of internal stator press A-B-(A)-(during the energising of B) order, Φ 1 forms the closed-loop path through annular permanent magnet → one section internal rotor iron core → air gap → two section internal stator iron core → air gap → another section internal rotor iron core → annular permanent magnet, machine operation is in two-phase hybrid stepping motor state, internal rotor rotates around back shaft with respect to internal stator together with external rotor, makes output shaft realize horizontal hunting.When two phase windings of external stator press A-B-(A)-(during the energising of B) order, Φ 2 forms the closed-loop path through arc-shaped permanent magnet → one section external rotor iron core → air gap → two section external stator iron core → air gap → another section external rotor iron core → arc-shaped permanent magnet, motor is to work in two-phase hybrid stepping motor state equally, external stator rotates around transverse axis with respect to external rotor, makes output shaft realize elevating movement.
Do a suitable metaphor, the track that two degree of freedom motions separately of motor make the terminal operation of output shaft is warp and the parallel on the globe similarly respectively.In the middle of reality, two degree of freedom motions of motor are all within certain limit rotational angle range, can think motor output shaft can be in one section sphere scope that maximum longitude warp and maximum dimension parallel surround with certain precision along any orbiting motion (comprising continuing to rotate that prerequisite is the sphere scope that does not exceed this restriction).Therefore, as long as the range of movement of the bionical eyeball of actual requirement is within one section sphere scope that above-mentioned maximum meridian and maximum latitude line surround, then the present invention can drive eyeball (output shaft is terminal) in claimed range with certain precision along any orbiting motion (comprise and continue to rotate).
The invention has the beneficial effects as follows:
1. separate on two degree of freedom magnetic circuits of motor, actual be two independently motor combine by mechanical mechanism, thereby can come the motor of these two degrees of freedom is independently analyzed respectively according to the method that a two-phase hybrid stepping motor is analyzed, make easy analysis; The motor of two degrees of freedom all works in the two-phase hybrid stepping motor state, step angle is 1/4 of angular pitch, and the angular pitch of internal rotor and external rotor is to do enough littlely that (and traditional orthocycle rod structure two-freedom motor has one degree of freedom to work in the p-m step motor state in the middle of actual, step angle is a pole span angle, but pole span can not be too little in the middle of actual, otherwise can't place winding), thereby can improve the motor positioning accuracy and improve the operation flatness; Can drive bionical eyeball in claimed range with certain precision along any orbiting motion (comprise and continue to rotate); Volume is little, lightweight, simple in structure, is easier to realize the microminiaturization of motor.
2. an outstanding advantage positioning accuracy of the present invention is high, operation flatness good (than traditional orthocycle rod structure two-freedom motor).This is because the motor of two degrees of freedom of the present invention all works in the two-phase hybrid stepping motor state, then step angle is that the 1/4(of angular pitch is for two-phase hybrid stepping motor, step angle is 1/4 of angular pitch, this is the common practise of this area, do not repeat them here), and the angular pitch of actual central internal rotor and external rotor can be done enough littlely; And in traditional orthocycle rod structure two-freedom motor the one degree of freedom machine operation in the composite stepper motor state, another freedom motor but is to work in the p-m step motor state, step angle is a pole span angle (for the two-phase permanent magnet stepping motor, step angle is a pole span angle, this is the common practise of this area, do not repeat them here), and pole span can not be too little in the middle of actual, otherwise can't place winding.
Description of drawings
Fig. 1 is the STRUCTURE DECOMPOSITION figure of traditional orthocycle rod structure two-freedom motor;
Fig. 2 is the structural principle schematic diagram of traditional first degree of freedom of orthocycle rod structure two-freedom motor;
Fig. 3 is the structural principle schematic diagram of traditional second degree of freedom of orthocycle rod structure two-freedom motor;
Fig. 4 is overall structure figure of the present invention;
Fig. 5 is STRUCTURE DECOMPOSITION figure of the present invention;
Fig. 6 is the structural principle schematic diagram of first degree of freedom of the present invention;
Fig. 7 is the structural principle schematic diagram of second degree of freedom of the present invention;
Fig. 8 is the front view of bionical eyeball when initial position;
Fig. 9 is the end view of bionical eyeball when initial position;
Figure 10 is the end view of upward view angle bionical eyeball when being 40 °;
Figure 11 is the longitude and latitude collimation method mark schematic diagram of bionical eyeball actual motion scope;
Figure 12 be upward view angle when being 40 ° bionical eyeball reach the actual position view of looking up limit of sports record;
Figure 13 drives the principle schematic of bionical eyeball (only having got half) when the initial position with the present invention;
Figure 14 drives the principle schematic of bionical eyeball (only having got half) when upward view angle is 40 ° with the present invention;
Figure 15 is during with the traditional bionical eyeball of orthocycle rod structure two-freedom motor driven, the kinematic accuracy schematic diagram of eyeball in given range;
Figure 16 is when driving bionical eyeball with the present invention, the kinematic accuracy schematic diagram of eyeball in given range.
Among the figure, 1, vertical bearing, 2, the vertical end cap of magnetic conduction not, 3, internal rotor, 4, annular permanent magnet, 5, the horizontal end cap of magnetic conduction not, 6, horizontal bearing, 7, magnetic conduction connecting rod not, 8, internal stator, 9, external rotor, 10, arc-shaped permanent magnet, 11, external stator, 12, output shaft, 13, back shaft, 14, base, 15, the internal stator winding, 16, the external stator winding, 22, horizontal bearing I, 23, the output shaft I, 24, the external rotor I, 25, internal rotor, 26, the back shaft I, 27, the base I, 28, the internal stator I, 29, vertical bearing I, 30, external rotor winding I, 31, the permanent magnet I, 32, the internal rotor winding, 33, casing, 41, eyelid, 42, the eye shell, 43, eyeball, 44, video camera, 45, opening area, 46, actual given bionical eyeball operation area, 47,40 ° of warps of east longitude, 48,40 ° of parallels of north latitude, 49,40 ° of warps of west longitude, 50,40 ° of parallels of south latitude, 51, bionical eyeball two-freedom composite stepper motor, 55, inner arc surface, 71, the second end face, 111, the circular arc end face.
Embodiment
The present invention will be further described below in conjunction with accompanying drawing and embodiment.
Bionical eyeball two-freedom composite stepper motor, comprise internal rotor 3, internal stator 8, external rotor 9, external stator 11, base 14, base 14 is provided with back shaft 13, internal stator 8 is fixedly connected with back shaft 13, back shaft is provided with vertical bearing 1 in two ends about in the of 13, vertically bearing 1 cooperates with the vertical end cap 2 of magnetic conduction not, internal rotor 3 is fixed together with external rotor 9 by vertical end cap 2, external stator 11 centers are provided with output shaft 12, output shaft 12 place axis and longitudinal axis quadrature are placed respectively the internal stator winding 15 of two-phase on described electric motor internal stator 8 and the external stator 11, external stator winding 16; Output shaft 12 is provided with microcam, camera axis and output shaft dead in line; External stator 11 is connected with an end of magnetic conduction connecting rod 7 not, the other end of connecting rod 7 cooperates with the endoporus of horizontal bearing 6, laterally the outer ring of bearing 6 cooperates with the horizontal end cap 5 of magnetic conduction not, and the horizontal end cap 5 of magnetic conduction is not connected with internal rotor 3, so that the integral body of external stator 11 and connecting rod 7 formations can be rotated around transverse axis; Described external stator 11 comprises the two iron leg hearts, and along two pairs of utmost points of inside circumference distribution unshakable in one's determination, each extremely is provided with some little teeth, and the two-phase excitation winding is set in the interpolar groove; Described external rotor 9 comprises that the two iron leg hearts of arc-shaped permanent magnet 10 and both sides thereof form, and the outside unshakable in one's determination is evenly arranged some little teeth, and two iron legs little tooth in the heart is wrong 1/2 tooth pitch mutually; Described internal rotor 3 comprises annular permanent magnet 4, and annular permanent magnet 4 both sides are respectively equipped with an iron leg heart, and iron core is four pairs of utmost points circumferentially, and the two-phase excitation winding is set in the interpolar groove, and inside unshakable in one's determination is evenly arranged some little teeth, and the little tooth on the iron core of both sides is wrong 1/2 tooth pitch mutually; Be processed into respectively take the longitudinal axis, transverse axis as two of the axis mutually orthogonal faces of cylinder described internal rotor 3 inner teeth ends, external rotor 9 external teeth ends, and two faces of cylinder form concentric column with internal stator 8, external stator 11 tooth surfaces respectively.When two phase windings of internal stator press A-B-(A)-(during the energising of B) order, Φ 1 forms the closed-loop path through 4 → one sections internal rotor 3 iron cores → air gap → two of annular permanent magnet section internal stator 8 iron cores → air gap → another section internal rotor 3 iron cores → annular permanent magnet 4, machine operation is in two-phase hybrid stepping motor state, internal rotor 3 rotates around back shaft 13 with respect to internal stator 8 together with external rotor 9, makes output shaft 12 realize horizontal hunting.When two phase windings of external stator 11 are pressed A-B-(-A)-(when order B) is switched on, Φ 2 forms the closed-loop path through 10 → one sections external rotor 9 iron cores → air gap → two of arc-shaped permanent magnet section external stator 11 iron cores → air gap → another section external rotor 9 iron cores → arc-shaped permanent magnet 10, motor is to work in two-phase hybrid stepping motor state equally, external stator 11 rotates around transverse axis with respect to external rotor 9, makes output shaft 12 realize elevating movement.
Two circular arc end faces 111 of external stator 11 respectively with the second end face 71 of magnetic conduction connecting rod 7 not by being welded to connect; The external cylindrical surface of the inner arc surface 55 at the horizontal end cap of magnetic conduction 5 two ends and internal rotor 3 is not by being welded to connect, so that external stator 11 can rotate around transverse axis with the integral body that connecting rod 7 consists of.
Described output shaft 12 is provided with microcam 44, video camera 44 axis and output shaft 12 deads in line.As shown in Figure 13, when reality drives bionical eyeball with the present invention, it is inner that bionical eyeball all is positioned over bionical eyeball with two-freedom composite stepper motor 51 major parts, on the output shaft of the present invention microcam is housed, and need back shaft of the present invention is made as shown in the figure structure, and can only be from opening area 45 with the interior bionical eyeball outside that is drawn out to be fixed.
By shown in Figure 14, the eye shell 42 in the bionical eyeball, eyeball 43, video camera 44 are rotating part, and eye shell 42, eyeball 43, video camera 44 threes are fixed together, and are synchronized with the movement with output shaft 12 of the present invention; Eyelid 41 in the bionical eyeball is fixed, and is relative static with back shaft 13.By shown in Figure 10, when bionical eyeball upward view angle was 40 ° (only with regard to this example), the edge of eyeball arrived top layer eyelid place just, and the eye shell then moves to shown position.In case bionical eyeball upward view angle is greater than 40 °, then the part of eyeball has just been covered by eyelid, and this is unallowed.According to the symmetry of spheroid as can be known, when the edge of eyeball nestled up one week of eyelid border movement (being oculomotor limit range), the track in one week of border movement of eye shell formed an opening area 45, as shown in figure 10.Because this opening area is bionical eyeball when moving in the limit range that limits, the zone that the eye shell can not arrive, so just the lead-in wire of back shaft and winding can be worn out from this opening area.
With regard to this routine the present invention, the central point of bionical eyeball is that the prescribed limit range of operation of center of camera lens is shown in the actual given bionical eyeball operation area 46 among Figure 11.Scope accordingly, this example have designed eyelid scope and eyeball size as shown in figure 11, so that when the central point arrival prescribed limit range of operation 46 of eyeball 43, the edge of eyeball 43 arrives eyelid 41 edges just.By shown in Figure 12, when bionical eyeball upward view angle was 40 °, the central point of eyeball 43 reached the summit of prescribed limit range of operation 46 just, and the edge of eyeball 43 reaches the summit at eyelid 41 edges just simultaneously.
Illustrate with the longitude and latitude collimation method, actual given bionical eyeball operation area 46 is included in 40 ° of parallels 50 of south latitude just, and 40 ° of parallels 48 of north latitude are within the spherical area scope that 40 ° of warps 47 of east longitude and 40 ° of warps 49 of west longitude surround, and be this regional inscribe sphere, as shown in figure 11.Therefore, as long as the rotational angle of two degree of freedom stepping motors among the present invention is all established meter for＞=40 °, just can satisfy the requirement that bionical eyeball moves within the given bionical eyeball of reality operation area 46 with certain precision.
For high to positioning accuracy of the present invention, the good advantage of operation flatness is described further, the positioning accuracy of positioning accuracy in the time of will driving bionical eyeball with the present invention with the traditional bionical eyeball of orthocycle rod structure two-freedom motor driven the time compares (in this special instruction, to drive bionic eye with traditional orthocycle rod structure two-freedom motor in the reality, just as discussed earlier, reason is the problem that exists winding to place in the reality, then there is not this problem in the present invention, thereby here more only be to compare theoretically), such as Figure 15, shown in Figure 16.Specific as follows: as to suppose that number of inner teeth of the present invention is identical with the internal stator number of teeth of traditional orthocycle rod structure two-freedom motor, then the angular pitch of both first degrees of freedom equates, simultaneously because both all need not place winding, then angular pitch can be done enough littlely, supposes that here angular pitch is 7.2 °; Suppose that simultaneously outer teeth of the present invention equates with number of inner teeth, then the angular pitch of second degree of freedom of the present invention also is 7.2 °; Because need on traditional orthocycle rod structure two-freedom outer rotor for motor tooth to place winding, pole span can not be too little, is 12 ° at this angular pitch (pole span angle) of supposing its external rotor.Because the motor of the present invention and traditional orthocycle rod structure two-freedom motor first degree of freedom all works in the two-phase hybrid stepping motor state, then step angle is 1/4 of angular pitch, namely 1.8 °.The second freedom motor of the present invention is to work in the two-phase hybrid stepping motor state equally, and then step angle is 1/4 of angular pitch, namely 1.8 °; And the second freedom motor of traditional orthocycle rod structure two-freedom motor is to work in two-phase permanent magnet stepping motor state, and then step angle equates with the pole span angle, namely 12 °.
As seen from Figure 15, for for traditional bionical oculomotor situation of orthocycle rod structure two-freedom motor driven (only in theory), under above-mentioned assumed condition, the position that the bionic eye ball's dead center can reach is exactly that the actual given bionical eyeball operation area 46(shown in Figure 15 comprises 46 borders) with the correspondence position of intersection point on sphere of interior circumference and line segment.As seen, the positioning accuracy of bionical eyeball is constantly to change within given operation area, and the closer to center, given operation area, positioning accuracy is higher; Otherwise away from the center of given operation area, positioning accuracy is lower.Simultaneously, because the step angle of its second degree of freedom is larger, increased the weight of the inhomogeneities of the positioning accuracy distribution of bionical eyeball.Thereby when moving in whole given operation area with traditional bionical eyeball of orthocycle rod structure two-freedom motor driven, flatness is relatively poor.
As seen from Figure 16, for drive bionical oculomotor situation with the present invention for, under above-mentioned assumed condition, the position that the bionic eye ball's dead center can reach is exactly that actual given bionical eyeball operation area 46(shown in Figure 16 comprises 46 borders) with the correspondence position of intersection point on sphere of interior warp and parallel.As seen, the positioning accuracy of bionical eyeball is evenly constant within given operation area, and the step angle of two freedom motors of the present invention is all very little.Thereby when driving bionical eyeball and move in whole given operation area with the present invention, flatness is better.
Although above-mentioned by reference to the accompanying drawings to the invention embodiment be described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (3)
1. bionical eyeball two-freedom composite stepper motor, comprise internal rotor, internal stator, external rotor, external stator, base, base is provided with back shaft, internal stator is fixedly connected with back shaft, the back shaft upper end is provided with vertical bearing, vertically bearing cooperates with the vertical end cap of magnetic conduction not, internal rotor is fixed together by vertical end cap and external rotor, the external stator center is provided with output shaft, output shaft place axis and longitudinal axis quadrature are placed respectively internal stator winding, the external stator winding of two-phase on described electric motor internal stator and the external stator; External stator is connected with an end of magnetic conduction connecting rod not, and the other end of connecting rod cooperates with the horizontal endoporus of bearing, and the outer ring of horizontal bearing cooperates with the horizontal end cap of magnetic conduction not, and the horizontal end cap of magnetic conduction is not connected with internal rotor; Described external stator comprises the two iron leg hearts, and along two pairs of utmost points of inside circumference distribution unshakable in one's determination, each extremely is provided with some little teeth, and the two-phase excitation winding is set in the interpolar groove; Described external rotor comprises the two iron leg hearts of arc-shaped permanent magnet and both sides thereof, and the outside unshakable in one's determination is evenly arranged some little teeth, and two iron legs little tooth in the heart is wrong 1/2 tooth pitch mutually; Described internal rotor comprises annular permanent magnet, and the annular permanent magnet both sides are respectively equipped with an iron leg heart, and iron core is four pairs of utmost points circumferentially, and the two-phase excitation winding is set in the interpolar groove, and inside unshakable in one's determination is evenly arranged some little teeth, and the little tooth on the iron core of both sides is wrong 1/2 tooth pitch mutually; Be processed into respectively take the longitudinal axis, transverse axis as two of the axis mutually orthogonal faces of cylinder described internal rotor inner teeth end, external rotor external teeth end, and two faces of cylinder form concentric column with internal stator, external stator tooth surface respectively.
2. bionical eyeball two-freedom composite stepper motor as claimed in claim 1 is characterized in that, two circular arc end faces of described external stator respectively with the second end face of magnetic conduction connecting rod not by being welded to connect; The external cylindrical surface of the inner arc surface at the horizontal end cap of magnetic conduction two ends and internal rotor is not by being welded to connect.
3. bionical eyeball two-freedom composite stepper motor as claimed in claim 1 is characterized in that described output shaft is provided with microcam, camera axis and output shaft dead in line.
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| CN201210529484.XA CN102946176B (en) | 2012-12-10 | 2012-12-10 | Two-degree-of-freedom hybrid step motor for bionic eyeballs |
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| CN201210529484.XA CN102946176B (en) | 2012-12-10 | 2012-12-10 | Two-degree-of-freedom hybrid step motor for bionic eyeballs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115580098A (en) * | 2022-12-07 | 2023-01-06 | 湖南大学 | Linear rotation permanent magnet motor with linear motion axis perpendicular to rotation motion axis |
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