CN103441719B - A kind of magnetic core magnetic keeps the method for designing of parallel stepping rotating disk - Google Patents
A kind of magnetic core magnetic keeps the method for designing of parallel stepping rotating disk Download PDFInfo
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- CN103441719B CN103441719B CN201310406070.2A CN201310406070A CN103441719B CN 103441719 B CN103441719 B CN 103441719B CN 201310406070 A CN201310406070 A CN 201310406070A CN 103441719 B CN103441719 B CN 103441719B
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- 238000000034 method Methods 0.000 title claims description 5
- 230000000694 effects Effects 0.000 claims abstract description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 46
- 229910052742 iron Inorganic materials 0.000 claims description 23
- 239000000463 material Substances 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 3
- 238000007373 indentation Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 8
- 230000001133 acceleration Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000002964 excitative effect Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
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Abstract
Magnetic core magnetic keeps the technical field of parallel stepping rotating disk to be belong to machine-building. Based Intelligent Control. and Robotics. Automated condtrol. electromagnetic technology field, technology to the effect that keep driver by multiple unit magnetic core magnetic, capstan is pressed the distribution of certain angle, each unit magnetic 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 core magnetic to keep driver, reach the angle of needs.
Description
Technical field
Magnetic core magnetic keeps the technical field of parallel stepping rotating disk 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 magnetic core magnetic, capstan is pressed the distribution of certain angle, each unit magnetic 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 core magnetic to keep 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 motors.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. volume is large; 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.The requirement of high-end technology can not be met, 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 magnetic 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 magnetic core magnetic keeps driver to be have inside and outside shell to form, middle spaced winding japanning envelope curve, iron plate is put at two of driver, there is a circular hole centre of iron plate above, through circular hole is through the driving shaft come by magnetic core, magnetic core is put in the middle of inner casing, driving shaft is set up in the centre of magnetic core, driving shaft is through iron plate 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 plate is magnetized to S rear end, front end N, magnetic core towards being N after front S, if magnetic core towards being S after front N, before the direction of the pulse current so inputted and magnetic core, after S, N is contrary, same effect can be reached, magnetic core will attract mutually with iron plate above, iron plate below repels mutually, so travel forward, attracted by iron plate above, at this moment just can power-off, magnetic core is in and is held state by iron plate above, driving shaft is in advanced state, if give the pulse current that coil one is reverse, iron plate is magnetized to N rear end, front end S, magnetic core iron plate just and above repels each other, iron plate below attracts each other, magnetic core just moves backward, attracted by iron plate below, driving shaft is in indentation state in this state, it is fixing dead that magnetic core magnetic keeps the method for designing of parallel stepping rotating disk to be the cross bar of Article 1 and central shaft, other cross bar is all movable with central shaft, last cross bar and capstan are fixing dead, unit magnetic core magnetic keeps driver to be mounted in the middle of two cross bars, all set up a unit magnetic 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 magnetic core magnetic, unit magnetic 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 magnetic core magnetic simultaneously, so magnetic core magnetic keeps parallel stepping rotating disk just to provide the maximum anglec of rotation, if keep driver reverse pulse current to each unit magnetic core magnetic simultaneously, so magnetic core magnetic keeps parallel stepping rotating disk to provide minimum angle, when you need the great anglec of rotation, just start how many unit magnetic core magnetic and keep driver, each unit magnetic core magnetic keeps the stroke of driver to be defined as a step, the angle that the capstan that each step promotes rotates is minimum unit angle.
Accompanying drawing explanation
fig. 1it is the structure chart that magnetic core magnetic keeps parallel stepping rotating disk, 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. represent the last item cross bar, it also can around central shaft turn, and it is fixed together with rotating disk, the bearing 6. above deputy activity bar, he overlaps on center shaft, 7. represent central shaft, 8.9.10. representative unit magnetic core magnetic keeps driver, and 11. represent last cross bar and the fixing point of rotating disk.Fig. 2 is the structure chart that unit magnetic core magnetic keeps driver, 1. representative unit magnetic core magnetic keeps the shell of driver, 2. representative unit magnetic core magnetic keeps the inner casing of driver, 3.4 represent iron plate, 5. represent magnetic core, 6. represent coil, 7. represent driving shaft, 8.9 is lead-in wires of coil, and S.N represents the polarity of magnet.
embodiment
Magnetic core magnetic keeps parallel stepping rotating disk to be will work under the effect of processor and encoder, when processor keeps some unit magnetic core magnetic of the inside of parallel step actuator to keep driver direct impulse voltage to magnetic core magnetic, by the circuit of periphery, keep driver direct impulse electric current will to this unit magnetic core magnetic, this unit magnetic core magnetic keeps driver to push ahead, encoder will record the state that this unit magnetic core magnetic keeps driver, when processor keeps some unit magnetic core magnetic of the inside of parallel step actuator to keep driver reverse voltage to magnetic core magnetic, by the circuit of periphery, keep driver reverse pulse current will to this unit magnetic core magnetic, this unit magnetic core magnetic maintenance driver will be backward indent, encoder will record the state that this unit magnetic core magnetic keeps driver, and each unit magnetic core magnetic keeps the front end of driver or rear end to set up transducer, the effect of transducer perceives unit magnetic 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 magnetic core magnetic keeps each the unit magnetic 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 magnetic core magnetic simultaneously and keep driver, unit magnetic core magnetic keeps driver will promote the object that respective cross bar reaches parallel drive, just reach the angle of needs quickly.
Claims (1)
1. the method for designing of the parallel stepping rotating disk of magnetic core magnetic maintenance, it is characterized in that, unit magnetic core magnetic keeps driver to be have inside and outside shell to form, middle spaced winding japanning envelope curve, iron plate is put at two of driver, there is a circular hole centre of iron plate above, through circular hole is through the driving shaft come by magnetic core, magnetic core is put in the middle of inner casing, driving shaft is set up in the centre of magnetic core, driving shaft is through iron plate 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, magnetic core towards being N after front S, if magnetic core towards being S after front N, before the direction of the pulse current so inputted and magnetic core, after S, N is contrary, same effect can be reached, magnetic core will attract mutually with iron plate above, iron plate below repels mutually, so travel forward, attracted by iron plate above, at this moment just can power-off, magnetic core is in and is held state by iron plate above, driving shaft is in advanced state, if give the pulse current that coil one is reverse, magnetic core iron plate just and above repels each other, iron plate below attracts each other, magnetic core just moves backward, attracted by iron plate below, driving shaft is in indentation state in this state, it is fixing dead that magnetic core magnetic keeps the method for designing of parallel stepping rotating disk to be the cross bar of Article 1 and central shaft, other cross bar is all movable with central shaft, last cross bar and capstan are fixing dead, unit magnetic core magnetic keeps driver to be mounted in the middle of two cross bars, all set up a unit magnetic 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 magnetic core magnetic, unit magnetic 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 magnetic core magnetic simultaneously, so magnetic core magnetic keeps parallel stepping rotating disk just to provide the maximum anglec of rotation, if keep driver reverse pulse current to each unit magnetic core magnetic simultaneously, so magnetic core magnetic keeps parallel stepping rotating disk to provide minimum angle, when you need the great anglec of rotation, just start how many unit magnetic core magnetic and keep driver, each unit magnetic core magnetic keeps the stroke of driver to be defined as a step, the angle that the capstan that each step promotes rotates is minimum unit angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310406070.2A CN103441719B (en) | 2013-09-09 | 2013-09-09 | A kind of magnetic core magnetic keeps the method for designing of parallel stepping rotating disk |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310406070.2A CN103441719B (en) | 2013-09-09 | 2013-09-09 | A kind of magnetic core magnetic keeps the method for designing of parallel stepping rotating disk |
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| Publication Number | Publication Date |
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| CN103441719A CN103441719A (en) | 2013-12-11 |
| CN103441719B true CN103441719B (en) | 2016-01-27 |
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Citations (4)
| 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 | Method and apparatus for electromagnetic drive of rectilinear movement |
-
2013
- 2013-09-09 CN CN201310406070.2A patent/CN103441719B/en active Active
Patent Citations (4)
| 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 | Method and apparatus for electromagnetic drive of rectilinear movement |
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| CN103441719A (en) | 2013-12-11 |
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Effective date of registration: 20181228 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: 20190617 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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