CN103441718B - Design method for iron core magnetic maintenance parallel stepping rotating disc - Google Patents

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

Iron core magnetic keeps the technical field of parallel stepping capstan to be belong to machine-building, Based Intelligent Control, Robotics, Automated condtrol, electromagnetic technology field, technology to the effect that keep driver by multiple unit iron core magnetic, capstan is pressed the distribution of certain angle, 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 iron core driver, reach the angle of needs.

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, have had higher requirement to the anglec of rotation of controllable precise, not only want precision high, speed and acceleration fast, good reliability, life of product is long, and failure rate requires extremely low, little power consumption, now conventional product has 2 kinds, 1. servomotor, 2. stepping motor.The advantage of servomotor is the closed-loop control achieving position, 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 comparatively slow, be equipped with very complicated encoder, volume is large, Heavy Weight.The advantage of stepping motor is that the angle that 1. motors rotate is proportional to umber of pulse; 2. there is when motor stalling maximum torque (when winding is excitatory); 3. because the precision often walked is three to percent five percent, and thus the accumulation of error of a step can not there be is the repeatability of good positional precision and motion to next step; 4. outstanding start-stop and reversion response; 5. owing to not having brush, reliability is higher, and therefore the life-span of motor only depends on the life-span of bearing; 6. the response of motor is only determined by digital input pulse, thus can adopt opened loop control, and this makes the structure of motor can be fairly simple and control cost; 7. also can the synchronous rotary of pole low speed in the rotating shaft only load being directly connected to motor; 8., because speed is proportional to pulse frequency, thus there is the wider range of speeds.If shortcoming 1. controls improper easy generation resonance; 2. be difficult to run to higher rotating speed; 3. be difficult to obtain larger torque; 4. large at volume; 5. Heavy Weight; 6. power consumption is large; 7. can destroy synchronous when exceeding load; 8. vibration & noise can be sent during high speed operation; 9. can step-out.So they exist common shortcoming, power consumption is large, and slowly, volume is large, Heavy Weight for acceleration and toggle speed, and Control system architecture is complicated, 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 keep parallel stepping rotating disk, 1. its volume is little, 2. because parallel starting, so reaction speed and acceleration fast, 3. lighter, 4. power consumption is little, 5. reach fixing point just to secure, 6. control system is simple, it is characterized in that, unit iron core magnetic keeps driver to be have inside and outside shell to form, centre coils, magnet is put at two of driver, magnet is that the same sex is relative, that is magnet N in two faces toward S facing to N or S, there is a circular hole centre of magnet above, through circular hole is through the driving shaft come by iron core, iron core is put in the middle of inner casing, driving shaft is set up in the centre of iron core, driving shaft is through magnet circular hole, the material of driving shaft is can not by the material of attraction, give lead-in wire direct impulse electric current of coil like this, iron core is just magnetized, produce magnetic pole, front end is N pole, rear end is S pole, assuming that the magnet before and after driver is that S and S-phase are right, iron core and magnet below repel each other and magnet above attracts each other, so travel forward, lived by attraction above, at this moment just can power-off, iron core keeps by magnet state above, driving shaft is in advanced state, if give the pulse current that coil one is reverse, iron core is magnetized, at this moment the front of iron core is S pole, back is N pole, iron core just repels mutually with the magnet of front, magnet below attracts mutually, iron core just moves backward, lived by attraction below, in this state, driving shaft is in indentation state, unit iron core magnetic keep driver also can N with N relative, direction and the S of the pulse current so inputted are anti-to S-phase, same effect can be reached, the method for designing of rotating disk is the cross bar of Article 1 and central shaft is fixing dead, other cross bar is all movable with central shaft, last cross bar and disk are fixed 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, according to few, demand Anduo County of equipment, keep driver direct impulse electric current 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 cross bar above, cross bar will rotate an angle, if keep driver direct impulse electric current to each unit iron core magnetic simultaneously, so iron core magnetic keeps parallel stepping rotating disk just to provide the maximum anglec of rotation, if keep driver reverse pulse current to each unit iron core magnetic simultaneously, so iron core magnetic keeps parallel stepping rotating disk to provide minimum angle, 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 promoting capstan rotation is minimum unit angle.

Accompanying drawing explanation

fig. 1it is the structure chart that iron core magnetic keeps parallel stepping capstan, 1. represent rotating disk, 2. represent the 1st article of cross bar it is connected dead with central shaft, also be the fixed lever be connected with outside, the cross bar of 3 and 4 deputy activities, it can around central shaft turn, 5. be represent the last item sidewards, it also can around central shaft turn, and it is fixed together with rotating disk, 6. the bearing above deputy activity bar, he overlaps on center shaft, 7. represent central shaft, 8.9.10. representative unit iron core magnetic keeps driver, here only 3 are drawn, it can 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, 1. representative unit iron core magnetic keeps the shell of driver, 2. representative unit iron core magnetic keeps the inner casing of driver, 3.4 represent magnet, 5. represent iron core, 6. represent coil, 7. represent driving shaft, 8.9 is lead-in wires of coil, and S.N represents the polarity of magnet.

implementation method:

Iron core magnetic keeps parallel stepping rotating disk to be will work under the effect of processor and encoder, when processor keeps some unit iron core magnetic of the inside of parallel step actuator to keep driver direct impulse voltage to iron core magnetic, by the circuit of periphery, keep driver direct impulse electric current 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 keeps some unit iron core magnetic of the inside of parallel step actuator to keep driver reverse voltage to iron core magnetic, by the circuit of periphery, keep driver reverse pulse current will to this unit iron core magnetic, this unit iron core magnetic maintenance driver will be backward indent, encoder will record the state that this unit iron core magnetic keeps driver, and each unit iron core magnetic keeps the front end of driver or rear end to set up transducer, the effect of transducer perceives unit iron core magnetic to keep the state of driver to be advanced state or contraction state, such processor reads the data of encoder or can know that current iron core magnetic keeps each the unit iron core magnetic inside parallel step actuator to keep the state of driver according to the information of transducer, when the how many anglec of rotation of need of work, processor will 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 object that respective cross bar reaches parallel drive, just reach the angle of needs quickly, the speed that its performs be that now any other equipment is inaccessiable soon.

Claims (1)

1. the method for designing of the parallel stepping capstan of iron core magnetic maintenance, it is characterized in that, unit iron core magnetic keeps driver to be have inside and outside shell to form, centre coils, magnet is put at two of driver, magnet is that the same sex is relative, that is magnet N in two faces toward S facing to N or S, there is a circular hole centre of magnet above, through circular hole is through the driving shaft come by iron core, iron core is put in the middle of inner casing, driving shaft is set up in the centre of iron core, driving shaft is through magnet circular hole, the material of driving shaft is can not by the material of attraction, give lead-in wire direct impulse electric current of coil like this, iron core is just magnetized, produce magnetic pole, front end is N pole, rear end is S pole, assuming that the magnet before and after driver is that S and S-phase are right, iron core and magnet below repel each other and magnet above attracts each other, so travel forward, lived by attraction above, at this moment just can power-off, iron core keeps by magnet state above, driving shaft is in advanced state, if give the pulse current that coil one is reverse, iron core is magnetized, at this moment the front of iron core is S pole, back is N pole, iron core just repels mutually with the magnet of front, magnet below attracts mutually, iron core just moves backward, lived by attraction below, in this state, driving shaft is in indentation state, unit iron core magnetic keep driver also can N with N relative, direction and the S of the pulse current so inputted are anti-to S-phase, same effect can be reached, the method for designing of rotating disk is the cross bar of Article 1 and central shaft is fixing dead, other cross bar is all movable with central shaft, last cross bar and disk are fixed 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, according to few, demand Anduo County of equipment, keep driver direct impulse electric current 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 cross bar above, cross bar will rotate an angle, if keep driver direct impulse electric current to each unit iron core magnetic simultaneously, so iron core magnetic keeps parallel stepping rotating disk just to provide the maximum anglec of rotation, if keep driver reverse pulse current to each unit iron core magnetic simultaneously, so iron core magnetic keeps parallel stepping rotating disk to provide minimum angle, 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 promoting capstan rotation is minimum unit angle.