CN105262313A - Differential positioning mechanism and accurate positioning method employing same - Google Patents
Differential positioning mechanism and accurate positioning method employing same Download PDFInfo
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- CN105262313A CN105262313A CN201510823843.6A CN201510823843A CN105262313A CN 105262313 A CN105262313 A CN 105262313A CN 201510823843 A CN201510823843 A CN 201510823843A CN 105262313 A CN105262313 A CN 105262313A
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Abstract
The invention discloses a differential positioning mechanism. The differential positioning mechanism is characterized by comprising a first rotor, a first stator, a second rotor and a second stator, wherein the same radial distance is formed between the first rotor and the inner wall of a center through hole of the first stator; the same radial distance is formed between second rotor blocks and the inner wall of the center through hole of the first stator; the first rotor is hollow and is coaxially connected with the second stator; the second rotor extends into the first rotor; and a radial gap is formed between the second rotor and the inner wall of the first rotor, or the first rotor is coaxially connected with the second rotor. The invention further discloses an accurate positioning method employing the differential positioning mechanism. Compared with the prior art, the differential positioning mechanism has the advantages that differential accurate positioning is achieved by two or more spiral stepper motors; the overall structure is simple; the differential positioning can be achieved through controlling electrification of windings; and the control is simple.
Description
Technical field
The present invention relates to a kind of differential type detent mechanism, this detent mechanism can be applied on precise machining equipment.The present invention is open a kind of accurate positioning method also.
Background technology
Generally use differential principle in existing precise machining equipment accurately to control to realize displacement, as the Chinese utility model " boring cutter radial differential fine setting device " (Authorization Notice No. is CN201220284Y) that the patent No. is ZL200820040337.5, the axial screw of different-diameter is provided with in the middle part of boring cutter tail end and in the middle part of positioning sleeve end face in this patent, coaxial with two ends, the same rotation direction of differential lever, but the screw thread of different-diameter respectively with boring cutter, positioning sleeve threaded engagement, utilize match screw thread pitch difference realize rectilinear movement poor; And for example application number is open " differential displacement apparatus " (application publication number is CN101350227A) of Chinese invention patent application of 200710129474.6.
The application proposes patent application " stator of spiral stepping motor, rotor mechanism and spiral stepping motor " (application number is 201510214738.2) on April 30th, 2015, this application was announced on July 22nd, 2015, rotor is in energising situation, dynamic screw magnetic field is produced between the stator block and the rotor block of rotor of stator, under the effect of this helical magnetic field, stator is fast relative with rotor block to be produced without friction relative rectilinear and circular motion, thus realizes relative rectilinear and the circular motion of stators and rotators.
How this compact spiral stepping motor that the applicant invents is applied to coming up of Precision Machining or checkout equipment, realizes accurately locating, need applicant to drop into creative work.
Summary of the invention
Technical problem to be solved by this invention provides a kind of differential detent mechanism that can improve accuracy for the above-mentioned state of the art.
Another technical problem to be solved by this invention is to provide a kind of two spiral stepping motors and realizes pinpoint method.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of differential detent mechanism, is characterized in that comprising
The first rotor, comprise the first central shaft and multiple the first rotor block, aforesaid the first rotor block is that datum line is arranged in the first central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the first circular helix, and aforesaid first circular helix is centered by the geometrical axis of the first central shaft;
First stator, at least two-phase independently the first winding comprising multiple the first stator block side by side and be located on the first stator block, aforementioned the first rotor block is identical with the first stator block axial width and align and arrange, further, aforementioned the first rotor has identical radial distance with the central through hole inwall of the first stator;
Second rotor, comprise the second central shaft and multiple second rotor block, aforesaid second rotor block is that datum line is arranged in the second central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the second circular helix, and aforesaid second circular helix is centered by the geometrical axis of the second central shaft;
Second stator, at least two-phase independently the second winding comprising multiple the second stator block side by side and be located on the second stator block, aforementioned second rotor block is identical with the second stator block axial width and align and arrange, further, aforementioned second rotor block has identical radial distance with the central through hole inwall of the first stator;
Aforementioned the first rotor hollow is also coaxially connected with the second stator, and aforesaid second rotor stretches into the first rotor and has radial clearance with the first rotor inwall, or aforementioned the first rotor is connected with the second rotor coaxial.
Further, this differential detent mechanism also comprises
Frame, comprise spaced apart two bearings and be connected to two first guide rods up and down between bearing, each bearing is equipped with the first rotating disk that energy relative seat rotates, is connected with described second rotor in the middle part of each bearing, further, described second rotor relative seat can rotate;
First support plate, it is two pieces, be located at described first stator both sides respectively and between aforesaid bearing, the top and bottom of every block first support plate all can be located on aforesaid first guide rod transverse shifting, and the outer face of every block first support plate is equipped with the second rotating disk that energy rotate relative to the first support plate;
Second guide rod, is upper and lower two, is located between the first rotating disk of side and the second rotating disk;
Second support plate is two pieces, is located at described second stator both sides respectively, and the top and bottom of every block second support plate can be located on aforementioned second guide rod transverse shifting;
3rd guide rod, is upper and lower two, is located between the first rotating disk of opposite side and the second rotating disk; And
Supporting seat, top and bottom can be located on aforementioned 3rd guide rod transverse shifting, are connected in the middle part of this supporting seat with one end of described the first rotor, and the other end of described the first rotor axis runs through by the first stator and is connected with wherein one piece of second support plate.
Further, the first stator block that the first described same cross section of stator is arranged symmetrically with by two docks and forms, and formed at docking location and connect draw-in groove, the first described stator can also comprise
Interlayer, is located at axially between adjacent two piece of first stator block unit;
Cover plate, is located at the cover plate outside aforementioned first stator; And
Connecting pin, is located in aforesaid connection draw-in groove and is connected as a single entity by aforesaid first stator block.
Further, also this differential detent mechanism comprises
Controller, the winding that control output end is connected with winding and second stator of described first stator; And
Position transducer, for horizontal displacement or the angular transition amount of the first stator described in perception, is connected with the signal input part of aforementioned controllers.
A kind of differential detent mechanism accurate positioning method, is characterized in that this comprises
The first rotor, comprise the first central shaft and multiple the first rotor block, aforesaid the first rotor block is that datum line is arranged in the first central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the first circular helix, and aforesaid first circular helix is centered by the geometrical axis of the first central shaft;
First stator, the at least two-phase independently winding comprising multiple the first stator block side by side and be located on the first stator block, aforementioned the first rotor block is identical with the first stator block axial width and align and arrange, further, aforementioned the first rotor has identical radial distance with the central through hole inwall of the first stator;
Second rotor, comprise the second central shaft and multiple second rotor block, aforesaid second rotor block is that datum line is arranged in the second central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the second circular helix, and aforesaid second circular helix is centered by the geometrical axis of the second central shaft;
Second stator, the at least two-phase independently winding comprising multiple the second stator block side by side and be located on the second stator block, aforementioned second rotor block is identical with the second stator block axial width and align and arrange, further, aforementioned second rotor block has identical radial distance with the central through hole inwall of the first stator;
Aforementioned the first rotor hollow is also coaxially connected with the second stator, and aforesaid second rotor stretches into the first rotor and has radial clearance with the first rotor inwall;
One of the employing of accurate location is following:
1. the first described stator and the second stator moving linearly, described the first rotor and the second rotor only rotate, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N+h2/n;
2. the first described stator and the second stator moving linearly, described the first rotor and the second rotor only rotate, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N-h2/n;
3. the first described stator and the second stator moving linearly, described the first rotor and the second rotor only rotate, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N-h2/n;
4. the first described stator and the second stator moving linearly, described the first rotor and the second rotor only rotate, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N+h2/n;
5. the first described stator and the second stator only rotate, described the first rotor and the second rotor moving linearly, first circular helix is identical with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha+beta;
6. the first described stator and the second stator only rotate, described the first rotor and the second rotor moving linearly, first circular helix is identical with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha-beta;
7. the first described stator and the second stator only rotate, described the first rotor and the second rotor moving linearly, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha-beta;
8. the first described stator and the second stator only rotate, described the first rotor and the second rotor moving linearly, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha+beta;
Wherein, h1 is the pitch of the second stator, h2 is the pitch of the first stator, △ h is straight line differential displacement, N is that the second stator rotates a circle required umber of pulse, and n is that the first stator rotates a circle required umber of pulse, and α turns over step angle after the pulse of the second stator, β turns over step angle after the pulse of the first stator, and △ θ is that angular difference moves displacement.
A kind of differential detent mechanism accurate positioning method, is characterized in that this comprises
The first rotor, comprise the first central shaft and multiple the first rotor block, aforesaid the first rotor block is that datum line is arranged in the first central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the first circular helix, and aforesaid first circular helix is centered by the geometrical axis of the first central shaft;
First stator, the at least two-phase independently winding comprising multiple the first stator block side by side and be located on the first stator block, aforementioned the first rotor block is identical with the first stator block axial width and align and arrange, further, aforementioned the first rotor has identical radial distance with the central through hole inwall of the first stator;
Second rotor, comprise the second central shaft and multiple second rotor block, aforesaid second rotor block is that datum line is arranged in the second central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the second circular helix, and aforesaid second circular helix is centered by the geometrical axis of the second central shaft;
Second stator, the at least two-phase independently winding comprising multiple the second stator block side by side and be located on the second stator block, aforementioned second rotor block is identical with the second stator block axial width and align and arrange, further, aforementioned second rotor block has identical radial distance with the central through hole inwall of the first stator;
Aforementioned the first rotor is connected with the second rotor coaxial;
One of the employing of accurate location is following:
1. the first stator moving linearly, second stator only rotates, the first rotor and the second rotor for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N-h2/n;
2. the first stator moving linearly, second stator only rotates, the first rotor and the second rotor for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N+h2/n;
3. the first stator moving linearly, second stator only rotates, the first rotor and the second rotor for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N+h2/n;
4. the first stator moving linearly, second stator only rotates, the first rotor and the second rotor for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N-h2/n;
5. the first stator only rotates, a second stator moving linearly, the first rotor and the second rotor for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha-beta;
6. the first stator only rotates, a second stator moving linearly, the first rotor and the second rotor for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha+beta;
7. the first stator only rotates, a second stator moving linearly, the first rotor and the second rotor for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha+beta;
8. the first stator only rotates, a second stator moving linearly, the first rotor and the second rotor for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=α – β;
Wherein, h1 is the pitch of the second stator, h2 is the pitch of the first stator, △ h is straight line differential displacement, N is that the second stator rotates a circle required umber of pulse, and n is that the first stator rotates a circle required umber of pulse, and α turns over step angle after the pulse of the second stator, β turns over step angle after the pulse of the first stator, and △ θ is that angular difference moves displacement.
Compared with prior art, the invention has the advantages that: adopt two or more spiral stepping motors to realize differential accurate location, overall structure is simple, can be realized by controlled winding energising, control simple, simultaneously, angular displacement can be realized as required dynamic differential with straight-line displacement, powerful, differential mode can do multiple conversion and selection according to actual needs, can be applied in the precision instrument of processing class or detection type.
Accompanying drawing explanation
Fig. 1 is embodiment 1 structural representation.
Fig. 2 is the second stator and the second rotor enlarged diagram in Fig. 1.
Fig. 3 is embodiment 2 structural representation.
Fig. 4 is embodiment 3 structural representation.
Embodiment
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
Embodiment 1, as shown in Figure 1, the differential detent mechanism in the present embodiment comprises the first rotor 3, first stator 1, second rotor 4 and the second stator 2.
The first rotor 3 comprises the first central shaft 32 and multiple the first rotor block 31, the first rotor block 31 is that datum line is arranged in the first central shaft 32 circumferentially continuously or evenly and at intervals in the shape of a spiral along the first circular helix, and the first circular helix is centered by the geometrical axis of the first central shaft 32.
First stator 1 comprises multiple the first stator block side by side and is located at least two-phase independently the first winding (without display in figure) on the first stator block, the first rotor block 31 is identical with the first stator block axial width and align and arrange, further, the first rotor 3 has identical radial distance with the central through hole inwall of the first stator 1.
Second rotor 4 comprises the second central shaft 42 and multiple second rotor block 41, second rotor block 41 is that datum line is arranged in the second central shaft 42 circumferentially continuously or evenly and at intervals in the shape of a spiral along the second circular helix, and the second circular helix is centered by the geometrical axis of the second central shaft 42.
Second stator 2 comprises multiple the second stator block 21 side by side and is located at least two-phase independently the second winding (without display in figure) on the second stator block 21, second rotor block 41 is identical with the second stator block 21 axial width and align and arrange, further, the second rotor block 41 has identical radial distance with the central through hole inwall of the first stator 1.
The first rotor 3 hollow is also coaxially connected with the second stator 2, and the second rotor 4 stretches into the first rotor 3 and has radial clearance with the first rotor 3 inwall.
As shown in Figure 2, the second stator block 21 that the second same cross section of stator 2 is arranged symmetrically with by two docks and forms, and, formed at docking location and connect draw-in groove, second stator 2 also comprises interlayer 22, cover plate 24 and connecting pin 23, and interlayer 22 is located at axially between adjacent two piece of second stator block 21 unit; The cover plate 24 outside the second stator 2 is located at by cover plate 24; Connecting pin 23 is located to connect in draw-in groove and is connected as a single entity by the second stator block 21.The structure of the first stator 1 and composition thereof are with reference to the second stator 2.Wherein, the detailed design structure of stepping motor that forms of stators and rotators and operation principle with reference to applicant earlier application CN104795960A, can be launched here no longer further.
One of the employing of accurate location is following:
1. the first stator 1 and the second stator 2 moving linearlies, described the first rotor 3 and the second rotor 4 only rotate, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator 1 of the first stator 1 is △ h=h1/N+h2/n;
2. the first stator 1 and the second stator 2 moving linearlies, described the first rotor 3 and the second rotor 4 only rotate, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator 1 of the first stator 1 is △ h=h1/N-h2/n;
3. the first stator 1 and the second stator 2 moving linearlies, described the first rotor 3 and the second rotor 4 only rotate, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator 1 of the first stator 1 is △ h=h1/N-h2/n;
4. the first stator 1 and the second stator 2 moving linearlies, described the first rotor 3 and the second rotor 4 only rotate, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator 1 of the first stator 1 is △ h=h1/N+h2/n;
As △ h>0, the first stator 1 direction of displacement is identical with the second stator 2 direction of displacement.
As △ h<0, the first stator 1 direction of displacement is contrary with the second stator 2 direction of displacement.
As △ h=0, the first stator 1 is not subjected to displacement.
5. the first stator 1 and the second stator 2 only rotate, described the first rotor 3 and the second rotor 4 moving linearlies, first circular helix is identical with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator 1 of the first stator 1 is △ θ=alpha+beta;
6. the first stator 1 and the second stator 2 only rotate, described the first rotor 3 and the second rotor 4 moving linearlies, first circular helix is identical with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator 1 of the first stator 1 is △ θ=alpha-beta;
7. the first stator 1 and the second stator 2 only rotate, described the first rotor 3 and the second rotor 4 moving linearlies, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator 1 of the first stator 1 is △ θ=alpha-beta;
8. the first stator 1 and the second stator 2 only rotate, described the first rotor 3 and the second rotor 4 moving linearlies, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator 1 of the first stator 1 is △ θ=alpha+beta;
As △ θ >0, the first stator 1 direction of rotation is consistent with the second stator 2 direction of rotation.
As △ θ <0, the first stator 1 direction of rotation is contrary with the second stator 2 direction of rotation.
When △ θ=0, the first stator 1 does not rotate.
Wherein, h1 is the pitch of the second stator 2, h2 is the pitch of the first stator 1, △ h is straight line differential displacement, N is that the second stator 2 rotates a circle required umber of pulse, and n is that the first stator 1 rotates a circle required umber of pulse, and α turns over step angle after 2 one pulses of the second stator, β turns over step angle after 1 one pulses of the first stator, and △ θ is that angular difference moves displacement.
When first stator and the second stator rotate a circle simultaneously, the first stator relative to the second linear stator displacement is:
△h＝h1±h2。
When first stator and the second stator rotate a circle simultaneously, the first stator relative to the second stator swing offset amount is:
△θ＝Nα±nβ。
Accurate straight line differential displacement can be exported and angular displacement moves displacement by the first stator 1.
Embodiment 2, as shown in Figure 3, in the present embodiment, some location settings done by differential detent mechanism on the basis of embodiment 1, can also can rotate by moving linearly, and the first rotor 3 and the second rotor 4 can only rotate with satisfied first stator 1 and the second stator 2.Concrete structure is as follows:
Frame 5 comprises spaced apart two bearings 51 and is connected to two first guide rods 52 up and down between bearing 51, each bearing 51 is equipped with the first rotating disk 53 that energy relative seat 51 rotates, be connected with the second rotor 4 in the middle part of each bearing 51, and the second rotor 4 relative seat 51 can rotate.
First support plate 34 is two pieces, be located at the first stator 1 both sides respectively and between bearing 51, the top and bottom of every block first support plate 34 all can be located on the first guide rod 52 transverse shifting, and the outer face of every block first support plate 34 is equipped with second rotating disk 35 that can rotate relative to the first support plate 34; Second guide rod 26 is upper and lower two, is located between the first rotating disk 53 of side and the second rotating disk 35.
Second support plate 25 is two pieces, is located at the second stator 2 both sides respectively, and the top and bottom of every block second support plate 25 can be located on the second guide rod 26 transverse shifting; 3rd guide rod 33 is upper and lower two, is located between the first rotating disk 53 of opposite side and the second rotating disk 35; Supporting seat 27 top and bottom can be located on the 3rd guide rod 33 transverse shifting, are connected in the middle part of this supporting seat 27 with one end of the first rotor 3, and the other end of the first rotor 3 axis runs through by the first stator 1 and is connected with wherein one piece of second support plate 25.
The first support plate 34 in the present embodiment and the second support plate 25 are split part with cover plate, can certainly be integral pieces.
Embodiment 3, as shown in Figure 4, the first rotor 3 in the present embodiment is coaxially connected with the second rotor 4, other structural reference embodiments 1.
One of the employing of accurate location is following:
1. the first stator 1 moving linearly, second stator 2 only rotates, the first rotor 3 and the second rotor 4 for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator 1 of the first stator 1 is △ h=h1/N-h2/n;
2. the first stator 1 moving linearly, second stator 2 only rotates, the first rotor 3 and the second rotor 4 for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator 1 of the first stator 1 is △ h=h1/N+h2/n;
3. the first stator 1 moving linearly, second stator 2 only rotates, the first rotor 3 and the second rotor 4 for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator 1 of the first stator 1 is △ h=h1/N+h2/n;
4. the first stator 1 moving linearly, second stator 2 only rotates, the first rotor 3 and the second rotor 4 for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator 1 of the first stator 1 is △ h=h1/N-h2/n;
5. the first stator 1 only rotates, second stator 2 moving linearly, the first rotor 3 and the second rotor 4 for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator 1 of the first stator 1 is △ θ=alpha-beta;
6. the first stator 1 only rotates, second stator 2 moving linearly, the first rotor 3 and the second rotor 4 for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator 1 of the first stator 1 is △ θ=alpha+beta;
7. the first stator 1 only rotates, second stator 2 moving linearly, the first rotor 3 and the second rotor 4 for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator 1 of the first stator 1 is △ θ=alpha+beta;
8. the first stator 1 only rotates, second stator 2 moving linearly, the first rotor 3 and the second rotor 4 for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator 1 of the first stator 1 is △ θ=α – β;
Wherein, h1 is the pitch of the second stator 2, h2 is the pitch of the first stator 1, △ h is straight line differential displacement, N is that the second stator 2 rotates a circle required umber of pulse, and n is that the first stator 1 rotates a circle required umber of pulse, and α turns over step angle after 2 one pulses of the second stator, β turns over step angle after 1 one pulses of the first stator, and △ θ is that angular difference moves displacement.
Disclosed in embodiment 1 and embodiment 3 be two stepping motors realize when working simultaneously differential, when two spiral stepping motor differences are run, the conclusion of following corresponding situation when simultaneously running is the same, in the different speed just run and running the first stator 1 and the second stator 2 position change and the first stator 1 isolated operation time, the second stator 2 will keep "on" position, the first stator 1 also will keep "on" position when the second stator 2 isolated operation."on" position is kept to be in order to synchronously, for next action is prepared.In addition, embodiment 1 and embodiment 3 merely disclose the operation of two motors, can certainly be that more than three or three motors realize differential, and structure can add up acquisition on embodiment 1 or embodiment 3, launches no longer further here.
In practical operation, N, n, h1, h2, α, β determine.We can from formula: select the situation of △ h=h1-h2 △ h=h1 ± h2 to analyze: when the difference (the straight-line displacement value namely rotated a circle) of h1, h2 is very little, a pulse current of differential detent mechanism can obtain minimum displacement, and differential screw motor can be widely used in the occasion needing hi-Fix requirement.Other situation of formula illustrates that spiral electric machine of the present invention also has other functions many, as speed changing function etc., above therefore application scenario is not limited to.In addition, preferably each stator, rotor can each rotary motion of moving linearly, and the motion mode of each rotor is controlled by certain method: rectilinear motion or rotary motion.
Embodiment 1 and embodiment 3 just give the output differential world of stator, certainly correspondingly can provide rotor and export differential situation, and conclusion is the same with corresponding stator differential output.
In order to obtain the straight-line displacement of very high degree of precision, such as need to enter above-mentioned formula differential mode, but velocity of displacement at this moment can reduce widely.For addressing this problem, solve by arranging controller and increasing position transducer: when being greater than the threshold value that controller is arranged apart from target range, entering single cpu mode and run; When being less than or equal to the threshold value of setting apart from target range, entering Dual OMU Servers Mode and running.Namely moving compared with large time difference the operational mode that detent mechanism enters single motor apart from target range, close to time enter the pattern of two motor cooperating operations.
Claims (6)
1. a differential detent mechanism, is characterized in that comprising
The first rotor, comprise the first central shaft and multiple the first rotor block, aforesaid the first rotor block is that datum line is arranged in the first central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the first circular helix, and aforesaid first circular helix is centered by the geometrical axis of the first central shaft;
First stator, at least two-phase independently the first winding comprising multiple the first stator block side by side and be located on the first stator block, aforementioned the first rotor block is identical with the first stator block axial width and align and arrange, further, aforementioned the first rotor has identical radial distance with the central through hole inwall of the first stator;
Second rotor, comprise the second central shaft and multiple second rotor block, aforesaid second rotor block is that datum line is arranged in the second central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the second circular helix, and aforesaid second circular helix is centered by the geometrical axis of the second central shaft;
Second stator, at least two-phase independently the second winding comprising multiple the second stator block side by side and be located on the second stator block, aforementioned second rotor block is identical with the second stator block axial width and align and arrange, further, aforementioned second rotor block has identical radial distance with the central through hole inwall of the first stator;
Aforementioned the first rotor hollow is also coaxially connected with the second stator, and aforesaid second rotor stretches into the first rotor and has radial clearance with the first rotor inwall, or aforementioned the first rotor is connected with the second rotor coaxial.
2. differential detent mechanism according to claim 1, is characterized in that this differential detent mechanism also comprises
Frame, comprise spaced apart two bearings and be connected to two first guide rods up and down between bearing, each bearing is equipped with the first rotating disk that energy relative seat rotates, is connected with described second rotor in the middle part of each bearing, further, described second rotor relative seat can rotate;
First support plate, it is two pieces, be located at described first stator both sides respectively and between aforesaid bearing, the top and bottom of every block first support plate all can be located on aforesaid first guide rod transverse shifting, and the outer face of every block first support plate is equipped with the second rotating disk that energy rotate relative to the first support plate;
Second guide rod, is upper and lower two, is located between the first rotating disk of side and the second rotating disk;
Second support plate is two pieces, is located at described second stator both sides respectively, and the top and bottom of every block second support plate can be located on aforementioned second guide rod transverse shifting;
3rd guide rod, is upper and lower two, is located between the first rotating disk of opposite side and the second rotating disk; And
Supporting seat, top and bottom can be located on aforementioned 3rd guide rod transverse shifting, are connected in the middle part of this supporting seat with one end of described the first rotor, and the other end of described the first rotor axis runs through by the first stator and is connected with wherein one piece of second support plate.
3. differential detent mechanism according to claim 2, it is characterized in that the first stator block that the first described same cross section of stator is arranged symmetrically with by two docks and form, and formed at docking location and connect draw-in groove, the first described stator also comprises
Interlayer, is located at axially between adjacent two piece of first stator block unit;
Cover plate, is located at the cover plate outside aforementioned first stator; And
Connecting pin, is located in aforesaid connection draw-in groove and is connected as a single entity by aforesaid first stator block.
4. differential detent mechanism according to claim 2, is characterized in that also this differential detent mechanism comprises
Controller, the winding that control output end is connected with winding and second stator of described first stator; And
Position transducer, for horizontal displacement or the angular transition amount of the first stator described in perception, is connected with the signal input part of aforementioned controllers.
5. a differential detent mechanism accurate positioning method, is characterized in that this differential detent mechanism comprises
The first rotor, comprise the first central shaft and multiple the first rotor block, aforesaid the first rotor block is that datum line is arranged in the first central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the first circular helix, and aforesaid first circular helix is centered by the geometrical axis of the first central shaft;
First stator, the at least two-phase independently winding comprising multiple the first stator block side by side and be located on the first stator block, aforementioned the first rotor block is identical with the first stator block axial width and align and arrange, further, aforementioned the first rotor has identical radial distance with the central through hole inwall of the first stator;
Second rotor, comprise the second central shaft and multiple second rotor block, aforesaid second rotor block is that datum line is arranged in the second central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the second circular helix, and aforesaid second circular helix is centered by the geometrical axis of the second central shaft;
Second stator, the at least two-phase independently winding comprising multiple the second stator block side by side and be located on the second stator block, aforementioned second rotor block is identical with the second stator block axial width and align and arrange, further, aforementioned second rotor block has identical radial distance with the central through hole inwall of the first stator;
Aforementioned the first rotor hollow is also coaxially connected with the second stator, and aforesaid second rotor stretches into the first rotor and has radial clearance with the first rotor inwall;
One of the employing of accurate location is following:
1. the first described stator and the second stator moving linearly, described the first rotor and the second rotor only rotate, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N+h2/n;
2. the first described stator and the second stator moving linearly, described the first rotor and the second rotor only rotate, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N-h2/n;
3. the first described stator and the second stator moving linearly, described the first rotor and the second rotor only rotate, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N-h2/n;
4. the first described stator and the second stator moving linearly, described the first rotor and the second rotor only rotate, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N+h2/n;
5. the first described stator and the second stator only rotate, described the first rotor and the second rotor moving linearly, first circular helix is identical with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha+beta;
6. the first described stator and the second stator only rotate, described the first rotor and the second rotor moving linearly, first circular helix is identical with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha-beta;
7. the first described stator and the second stator only rotate, described the first rotor and the second rotor moving linearly, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha-beta;
8. the first described stator and the second stator only rotate, described the first rotor and the second rotor moving linearly, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, between first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha+beta;
Wherein, h1 is the pitch of the second stator, h2 is the pitch of the first stator, △ h is straight line differential displacement, N is that the second stator rotates a circle required umber of pulse, and n is that the first stator rotates a circle required umber of pulse, and α turns over step angle after the pulse of the second stator, β turns over step angle after the pulse of the first stator, and △ θ is that angular difference moves displacement.
6. a differential detent mechanism accurate positioning method, is characterized in that this comprises
The first rotor, comprise the first central shaft and multiple the first rotor block, aforesaid the first rotor block is that datum line is arranged in the first central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the first circular helix, and aforesaid first circular helix is centered by the geometrical axis of the first central shaft;
First stator, the at least two-phase independently winding comprising multiple the first stator block side by side and be located on the first stator block, aforementioned the first rotor block is identical with the first stator block axial width and align and arrange, further, aforementioned the first rotor has identical radial distance with the central through hole inwall of the first stator;
Second rotor, comprise the second central shaft and multiple second rotor block, aforesaid second rotor block is that datum line is arranged in the second central shaft circumferentially continuously or evenly and at intervals in the shape of a spiral along the second circular helix, and aforesaid second circular helix is centered by the geometrical axis of the second central shaft;
Second stator, the at least two-phase independently winding comprising multiple the second stator block side by side and be located on the second stator block, aforementioned second rotor block is identical with the second stator block axial width and align and arrange, further, aforementioned second rotor block has identical radial distance with the central through hole inwall of the first stator;
Aforementioned the first rotor is connected with the second rotor coaxial;
One of the employing of accurate location is following:
1. the first stator moving linearly, second stator only rotates, the first rotor and the second rotor for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N-h2/n;
2. the first stator moving linearly, second stator only rotates, the first rotor and the second rotor for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N+h2/n;
3. the first stator moving linearly, second stator only rotates, the first rotor and the second rotor for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N+h2/n;
4. the first stator moving linearly, second stator only rotates, the first rotor and the second rotor for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position straight line differential displacement of relative first stator of the first stator is △ h=h1/N-h2/n;
5. the first stator only rotates, a second stator moving linearly, the first rotor and the second rotor for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha-beta;
6. the first stator only rotates, a second stator moving linearly, the first rotor and the second rotor for the helical movement, first circular helix is consistent with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha+beta;
7. the first stator only rotates, a second stator moving linearly, the first rotor and the second rotor for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is identical, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=alpha+beta;
8. the first stator only rotates, a second stator moving linearly, the first rotor and the second rotor for the helical movement, first circular helix is contrary with the second circular helix direction, and, first winding and the second winding are energized simultaneously, and between the first winding and when between the second winding, Pulse Electric beat traffic direction is contrary, then under a pulse, the initial position angle differential displacement amount of relative first stator of the first stator is △ θ=α – β;
Wherein, h1 is the pitch of the second stator, h2 is the pitch of the first stator, △ h is straight line differential displacement, N is that the second stator rotates a circle required umber of pulse, and n is that the first stator rotates a circle required umber of pulse, and α turns over step angle after the pulse of the second stator, β turns over step angle after the pulse of the first stator, and △ θ is that angular difference moves displacement.
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| CN106130276A (en) * | 2016-07-15 | 2016-11-16 | 张玲玲 | A kind of structure motor |
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