CN103441718A - Design method for iron core magnetic maintenance parallel stepping rotating disc - Google Patents

Design method for iron core magnetic maintenance parallel stepping rotating disc Download PDF

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Publication number
CN103441718A
CN103441718A CN2013104059052A CN201310405905A CN103441718A CN 103441718 A CN103441718 A CN 103441718A CN 2013104059052 A CN2013104059052 A CN 2013104059052A CN 201310405905 A CN201310405905 A CN 201310405905A CN 103441718 A CN103441718 A CN 103441718A
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CN
China
Prior art keywords
iron core
core magnetic
driver
magnet
unit
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CN2013104059052A
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Chinese (zh)
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CN103441718B (en
Inventor
胡明建
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胡明建
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Priority to CN201310405905.2A priority Critical patent/CN103441718B/en
Publication of CN103441718A publication Critical patent/CN103441718A/en
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Publication of CN103441718B publication Critical patent/CN103441718B/en

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Abstract

The invention discloses a design method for an iron core magnetic maintenance parallel stepping rotating disc and belongs to the technical field of machinery manufacture, intelligent control, a robot, automation control and electromagnetism. The main contents of the technology is as follows: a plurality of unit iron core magnetic maintenance drivers are distributed on the rotating disc according to a certain angle, the travel of each unit iron core magnetic maintenance driver is defined to be a step, and each step pushes the rotating disc to rotate to a certain angle so that a needed angle can be reached by pushing a certain number of unit iron core magnetic maintenance drivers according to the needed rotation angle.

Description

A kind of iron core magnetic keeps the method for designing of parallel stepping capstan

Technical field

It is to belong to machine-building that iron core magnetic keeps the technical field of parallel stepping capstan. Based Intelligent Control. and Robotics. automation is controlled. electromagnetic technology field, a plurality of unit iron core magnetic that to the effect that passes through of technology keeps driver, press the distribution of certain angle on capstan, each unit iron core magnetic keeps the stroke of driver, define a step, each step can promote capstan and rotate a certain angle, the angle that so just can rotate on demand, advance several unit magnetic to keep the iron core driver, reach the angle needed.

Background technology

Due to the unprecedented development of digital technology, numerically controlled controllability is good, and precision is high, particularly intelligent machine equipment and Robotics obtain unprecedented development, and the accurate controlled anglec of rotation has been had to higher requirement, not only want precision high, speed and acceleration are fast, good reliability, life of product is long, and failure rate requires extremely low, little power consumption, now product commonly used has 2 kinds, 1. servomotor, 2 stepping motors.The advantage of servomotor is to have realized position. the closed-loop control of speed and moment, high speed performance is good, anti-overload ability is strong, and low cruise is steady, and the dynamic corresponding time of motor acceleration and deceleration is short, heating and noise obviously reduce, shortcoming is that power consumption is large, and toggle speed and acceleration are slower, be equipped with very complicated encoder, volume is large, Heavy Weight.The advantage of stepping motor is that the angle of 1. motor rotations is proportional to umber of pulse; 2. there is maximum torque (when winding is excitatory) when motor stalling; Due to the precision of every step 3 percent to 5 percent, and can be by the accumulation of error of a step to next step thereby the repeatability of positional precision and motion is preferably arranged; 4. outstanding start-stop and reversion response; 5. owing to there is no brush, reliability is higher, so the life-span of motor is only depended on the life-span of bearing; 6. the response of motor is only determined by digital input pulse, thereby can adopt open loop to control, and this makes the structure of motor can be fairly simple and control cost; 7. only load is directly connected in the rotating shaft of motor also can utmost point low speed synchronous rotary.8. because speed is proportional to pulse frequency, thereby the wider range of speeds is arranged.If shortcoming is 1. to control improper easy generation resonance; 2. be difficult to run to higher rotating speed.3. be difficult to obtain larger torque 4. large in large 5. Heavy Weight 6. power consumptions of volume.7. can destroy synchronously while surpassing load, 8. can send vibration and noise during high speed operation, 9. can step-out.So there is common shortcoming in they, power consumption is large, and acceleration and toggle speed are slow, and volume is large, Heavy Weight, control system complex structure.Can not meet the requirement of high-end technology, such as this one side of intelligent robot.

Summary of the invention

In order to meet the requirement of some high-end technologies, the particularly requirement of Humanoid intelligent robot, we have developed iron core magnetic and have kept parallel stepping rotating disk, 1. its volume is little, 2. because parallel starting, so reaction speed and acceleration are fast, 3. low weight, 4. power consumption is little, 5. reach fixing point just fixing, 6. control system is simple, it is characterized in that it is to have inside and outside shell to form that unit iron core magnetic keeps driver, centre coils, magnet is put at two at driver, magnet is that the same sex is relative, there is a circular hole centre of the magnet of front, through circular hole is through the driving shaft come by iron core, put iron core in the middle of inner casing, driving shaft is set up in centre at iron core, driving shaft is through the magnet circular hole, the material of driving shaft is can be by the material of attraction, give like this direct impulse electric current of lead-in wire of coil, iron core just is magnetized, produce magnetic pole, front end is the N utmost point, rear end is the S utmost point, because the magnet before and after driver is that S is relative with S, the magnet of iron core and back repels each other and the magnet of front attracts each other, so travel forward, by the attraction of front, lived, at this moment just can cut off the power supply, iron core keeps by the magnet state of front, driving shaft is in advanced state, if give reverse pulse current of coil, iron core is magnetized, at this moment the front of iron core is the S utmost point, back is the N utmost point, iron core just repels mutually with the magnet of front, with the magnet of back, attract mutually, iron core is motion backward just, by the attraction of back, lived, under state, driving shaft is in the indentation state, unit iron core magnetic keeps driver also can N relative with N, also can reach same effect by operated in anti-phase, the method for designing of rotating disk is that cross bar and the central shaft of article one is fixing dead, other cross bar is all movable with central shaft, last cross bar and disk are fixing dead, unit iron core magnetic keeps driver to be mounted in the middle of two cross bars, all set up a unit iron core magnetic in the middle of every two cross bars of being separated by and keep driver, few individual according to demand Anduo County of equipment, keep direct impulse electric current of driver to so wherein any one unit iron core magnetic, unit iron core magnetic keeps the driving shaft of driver to push ahead, driving shaft will promote the cross bar of front, cross bar will rotate an angle, if keep driver direct impulse electric current to each unit iron core magnetic simultaneously, iron core magnetic keeps parallel stepping rotating disk just to provide the maximum anglec of rotation so, if keep reverse impulse electric current of driver to each unit iron core magnetic simultaneously, iron core magnetic keeps parallel stepping rotating disk to provide minimum angle so, when you need the great anglec of rotation, just start how many unit iron core magnetic and keep driver, each unit iron core magnetic keeps the stroke of driver to be defined as a step, the angle that promotes the capstan rotation is the minimum unit angle.

The annex explanation

fig. 1it is the structure chart that iron core magnetic keeps parallel stepping capstan, 1. represent rotating disk, 2. represent the 1st cross bar it is connected dead with central shaft, it is also the fixed lever be connected with outside, the cross bar of 3 and 4 deputy activities, it can be around the central shaft turn, the 5th, represent that the last item is sidewards, it also can be around the central shaft turn, and it is fixed together with rotating disk, the 6th, the bearing above the deputy activity bar, he is enclosed within on central shaft, the 7th, represent central shaft, 8.9.10. representative unit iron core magnetic keeps driver, here only draw 3, it can be by design requirement by how many, 11 represent last cross bar and the fixing point of rotating disk.Fig. 2 is the structure chart that unit iron core magnetic keeps driver, the 1st, representative unit iron core magnetic keeps the shell of driver, the 2nd, representative unit iron core magnetic keeps the inner casing of driver, 3.4 represent magnet, the 5th, represent iron core, the 6th, represent coil, the 7th, represent driving shaft, 8.9 be the lead-in wire of coil, S.N represents the polarity of magnet.

implementation method:

It is under the effect of processor and encoder, to work that iron core magnetic keeps parallel stepping rotating disk, when processor, to iron core magnetic, keep some unit iron core magnetic of the inside of parallel step actuator to keep direct impulse voltage of driver, by peripheral circuit, keep direct impulse electric current of driver will to this unit iron core magnetic, this unit iron core magnetic keeps driver to push ahead, encoder will record the state that this unit iron core magnetic keeps driver, when processor, to iron core magnetic, keep some unit iron core magnetic of the inside of parallel step actuator to keep reverse voltage of driver, by peripheral circuit, keep reverse impulse electric current of driver will to this unit iron core magnetic, this unit iron core magnetic keeps driver indentation backward, encoder will record the state that this unit iron core magnetic keeps driver, and each unit iron core magnetic keeps front end or the rear end of driver to set up transducer, the effect of transducer is to perceive unit iron core magnetic to keep the state of driver be advanced state or contraction state, processor reads the data of encoder or can know that according to the information of transducer current iron core magnetic keeps each unit iron core magnetic of parallel step actuator the inside to keep the state of driver like this, when how many anglecs of rotation of need of work, processor will be according to the state of current encoder device or transducer, will make decision at once, open or close several unit iron core magnetic simultaneously and keep driver, unit iron core magnetic keeps driver will promote the purpose that cross bar separately reaches parallel drive, just reach the angle needed quickly, the speed that its is carried out be that any other equipment is inaccessiable now soon.

Claims (1)

1. an iron core magnetic keeps the method for designing of parallel stepping capstan, feature is, it is to have inside and outside shell to form that unit iron core magnetic keeps driver, centre coils, magnet is put at two at driver, magnet is that the same sex is relative, there is a circular hole centre of the magnet of front, through circular hole is through the driving shaft come by iron core, put iron core in the middle of inner casing, driving shaft is set up in centre at iron core, driving shaft is through the magnet circular hole, the material of driving shaft is can be by the material of attraction, give like this direct impulse electric current of lead-in wire of coil, iron core just is magnetized, produce magnetic pole, front end is the N utmost point, rear end is the S utmost point, because the magnet before and after driver is that S is relative with S, the magnet of iron core and back repels each other and the magnet of front attracts each other, so travel forward, by the attraction of front, lived, at this moment just can cut off the power supply, iron core keeps by the magnet state of front, driving shaft is in advanced state, if give reverse pulse current of coil, iron core is magnetized, at this moment the front of iron core is the S utmost point, back is the N utmost point, iron core just repels mutually with the magnet of front, with the magnet of back, attract mutually, iron core is motion backward just, by the attraction of back, lived, under state, driving shaft is in the indentation state, unit iron core magnetic keeps driver also can N relative with N, also can reach same effect by operated in anti-phase, the method for designing of rotating disk is that cross bar and the central shaft of article one is fixing dead, other cross bar is all movable with central shaft, last cross bar and disk are fixing dead, unit iron core magnetic keeps driver to be mounted in the middle of two cross bars, all set up a unit iron core magnetic in the middle of every two cross bars of being separated by and keep driver, few individual according to demand Anduo County of equipment, keep direct impulse electric current of driver to so wherein any one unit iron core magnetic, unit iron core magnetic keeps the driving shaft of driver to push ahead, driving shaft will promote the cross bar of front, cross bar will rotate an angle, if keep driver direct impulse electric current to each unit iron core magnetic simultaneously, iron core magnetic keeps parallel stepping rotating disk just to provide the maximum anglec of rotation so, if keep reverse impulse electric current of driver to each unit iron core magnetic simultaneously, iron core magnetic keeps parallel stepping rotating disk to provide minimum angle so, when you need the great anglec of rotation, just start how many unit iron core magnetic and keep driver, each unit iron core magnetic keeps the stroke of driver to be defined as a step, the angle that promotes the capstan rotation is the minimum unit angle.
CN201310405905.2A 2013-09-09 2013-09-09 Design method for iron core magnetic maintenance parallel stepping rotating disc CN103441718B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310405905.2A CN103441718B (en) 2013-09-09 2013-09-09 Design method for iron core magnetic maintenance parallel stepping rotating disc

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310405905.2A CN103441718B (en) 2013-09-09 2013-09-09 Design method for iron core magnetic maintenance parallel stepping rotating disc

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CN103441718B CN103441718B (en) 2015-07-01

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3413730B2 (en) * 1994-04-21 2003-06-09 ソニー株式会社 Horizontal articulated robot
CN2657172Y (en) * 2003-11-11 2004-11-17 孙清华 Reverse magnetic double steady-state electromagnetic reciprocating driving mechanism
CN1806302A (en) * 2003-06-14 2006-07-19 费斯托合资公司 Electromagnetic drive device
CN101441919A (en) * 2008-09-08 2009-05-27 杨东平;杨肇杰 Method and apparatus for electromagnetic drive of rectilinear movement

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3413730B2 (en) * 1994-04-21 2003-06-09 ソニー株式会社 Horizontal articulated robot
CN1806302A (en) * 2003-06-14 2006-07-19 费斯托合资公司 Electromagnetic drive device
CN2657172Y (en) * 2003-11-11 2004-11-17 孙清华 Reverse magnetic double steady-state electromagnetic reciprocating driving mechanism
CN101441919A (en) * 2008-09-08 2009-05-27 杨东平;杨肇杰 Method and apparatus for electromagnetic drive of rectilinear movement

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Effective date of registration: 20181229

Address after: Room 107, Di Shang Science and Technology House, West District, Chang Xincun, Jizhou District, Tianjin 301900

Patentee after: Tianjin ocean Hangzhou Science and Technology Co., Ltd.

Address before: 325100 No. 35 Zhongxing Village Central Road, Shangtang Town, Yongjia County, Wenzhou City, Zhejiang Province

Patentee before: Hu Mingjian

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Effective date of registration: 20190614

Address after: 300000 Second Floor, No. 20 Jiyun Street, Tianjin Special Vehicle Industrial Park, Jizhou District, Tianjin

Patentee after: Tianjin Onafulin Technology Co., Ltd.

Address before: Room 107, Di Shang Science and Technology House, West District, Chang Xincun, Jizhou District, Tianjin 301900

Patentee before: Tianjin ocean Hangzhou Science and Technology Co., Ltd.

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