CN106341025B - A kind of spherical structure two-freedom hybrid type stepping motor and its application - Google Patents
A kind of spherical structure two-freedom hybrid type stepping motor and its application Download PDFInfo
- Publication number
- CN106341025B CN106341025B CN201610910671.0A CN201610910671A CN106341025B CN 106341025 B CN106341025 B CN 106341025B CN 201610910671 A CN201610910671 A CN 201610910671A CN 106341025 B CN106341025 B CN 106341025B
- Authority
- CN
- China
- Prior art keywords
- motor
- freedom
- rotor
- stator
- spherical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
- H02K37/10—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type
- H02K37/12—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/2726—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of a single magnet or two or more axially juxtaposed single magnets
- H02K1/2733—Annular magnets
Abstract
The invention discloses a kind of spherical structure two-freedom hybrid type stepping motor and its applications, including the first freedom motor, the second freedom motor and output shaft, wherein, first freedom motor is the ring-shaped structure with a notch, second freedom motor is the ring-shaped structure with an opening, and the notch is adapted with opening so that the place plane of two motors is perpendicular orthogonal；First freedom motor, the second freedom motor include stator and rotor, and with stator in the place plane of affiliated motor relative motion can occur for rotor, by two freedom motor respectively self-movements, the two-freedom movement for being disposed therein the output shaft on one degree of freedom motor is realized.The present invention has the advantages that structure, manufacturing process are simple, analysis design is convenient, mechanical integrity is high, open loop operation positioning accuracy is high, drive control is easy, performance test test is easy, and is conducive to the performance and competitiveness that shorten the R＆D cycle of product, promote product.
Description
Technical field
The present invention relates to a kind of spherical structure two-freedom hybrid type stepping motor and its applications.
Background technology
Traditional multifreedom motion is often cooperated by multiple single dof mobilities and is realized.Multiple degrees of freedom transmission device
It is generally made of more single-degree-of-freedom driving elements and complicated mechanical driving device, to cause multiple degrees of freedom apparatus body
Product is huge, and precision is low, dynamic and static poor performance；And due to more application reduction gearing in device, result in rotary inertia
Increase the generation with non-linear friction, to increase the energy loss of transmission device, the gap of transmission device also reduces simultaneously
System stiffness, increases the unstability of system.With the high speed development of modern industry, machine industry is to transmission device
Precision requirement it is higher and higher, traditional multiple degrees of freedom transmission device has been unable to meet industrial requirements.In order to make multiple degrees of freedom
Transmission structures are simple, and movement is flexible, and driving, control is rapid and coordinates, and the development and application of multi-freedom electric motor receive
The extensive concern of domestic and foreign scholars.
The research of multiple degrees of freedom motor can trace back in the 1950s, period goes out in the fifties and the eighties respectively
Now after studying climax twice.So far, the multiple degrees of freedom motor studied both at home and abroad can be divided into：How free selsyn formula is
Spend motor, induction type multiple degrees of freedom motor, magneto multiple degrees of freedom motor, ultrasonic wave multiple degrees of freedom motor, combination
Formula multiple degrees of freedom motor etc., wherein magneto multiple degrees of freedom motor include Permanent magnet DC multiple degrees of freedom motor, permanent magnetism step
Into multiple degrees of freedom motor, reluctance type permanent magnetism multiple degrees of freedom motor, permanent-magnet synchronous multiple degrees of freedom motor.These multiple degrees of freedoms
The mentality of designing of traditional single-degree-of-freedom motor has been continued to use in the development of motor mostly.In numerous structures, spherical structure it is electronic
Machine due to its in kinematics angle most beneficial for multi-dimensional movement, can realize and position in space any angle, become the country
The research hotspot of outer scholar.Spherical motor can replace traditional multiple degrees of freedom transmission device, and the advantage is that can be at one
Complicated multifreedom motion is realized on motor, is greatly reduced the complexity of mechanical driving device, is reduced the body of device
Product and weight, improve the positioning accuracy and response speed of transmission device, reduce the energy loss of system, expanded motor
Application range.Spherical motor is in robot, mechanical arm, electric top, antenna follower, machine tooling, panoramic shooting cloud
The foreground of being widely applied is suffered from the equipment such as platform and robot bionic eyeball.
Initial multi-degree of freedom spherical motor theory be by Britain research scholar E.C.Williams and
E.P.Laithwaite puts forward in nineteen fifty-nine, and its purpose is to improve the speed adjusting performance of asynchronous motor.By 80 years
Generation, U.S., day, De Deng states researchers just concentrate on joint of robot driving motor, various joints electricity
The theory and spherical motor model of machine are just suggested in succession.Currently, the research type of spherical motor can be substantially summarized as
Magnetic resistance type, permanent-magnet type, asynchronous type and double-fed spherical motor.Foreign countries are engaged in the main of spherical motor area research work
Have：State-run advanced Industrial Technology Research Institute of Japan, Georgia Institute of Technology of the U.S., Univ Sheffield UK, Aachen, Germany work
Sparetime university, Johns Hopkins University of the U.S., Nanyang Technological University.The state-run advanced Industrial Technology Research Institute's application of Japan
Spherical motor patent be to be developed according to the principle of plane magnetoresistive motor.Georgia Institute of Technology of the U.S. in 1987
G.J.Vanchtsevanos etc. describes a kind of three-winding induction type spherical motor, and has been put forward for the first time variable reluctance spherical shape
The design philosophy of motor.The design that Kok-Meng Lee in 1988 et al. further illustrate magnetic resistance type spherical motor is thought
Think, it is indicated that the shortcomings that induction type spherical motor, and point out Three Degree Of Freedom reluctance stepper and common Single Degree of Freedom Magnetic
Hinder the difference of stepper motor.Univ Sheffield UK J.Wang in 1997 et al. developed with two-freedom or
The permanent magnet spherical motor of Three Degree Of Freedom is mainly used for the feedback of power in control stick, stereo visual system, high sensitivity and reliable
The fields such as the drivings of the multi-DOF platform of Complex Assemblies system such as the joint of robot of property.1999, Aachen, Germany industry was big
Develop a kind of permanent-magnet type three degree of freedom spherical motor, and has extensively studied the row of permanent magnet spherical motor stator upper magnetic pole
The influence that row generate motor torque characteristic with placement.1999, Johns Hopkins University of U.S. S.Chirikjian etc. was set
Meter has developed a kind of permanent magnetic spherical step motor, which is noteworthy characterized by stator and is less than half to the coverage area of rotor
Rotor, to expand the motion range of rotor significantly.2004, Nanyang Technological University Liang Yan et al. were developed
Permanent magnetism spherical dc motor and the experiment measuring table for having built spherical motor.For at present, external multiple degrees of freedom
The research of spherical motor is still in the laboratory research stage, and apart from real commercialization, there is also certain distances.
The country starts from the late 1980s to the research of multi-degree of freedom spherical motor, starts late.Due to country
Relevant departments pay much attention to, and state natural sciences fund and 863 Program have subsidized the research project of this respect, push domestic close
Faster development has been obtained in the research of spherical motor.Northwestern Polytechnical University, Huazhong University of Science and Technology, Zhejiang University, Harbin
The colleges and universities such as polytechnical university, HeFei University of Technology and University Of Tianjin have developed respective multi-degree of freedom spherical motor model machine, and
More in-depth study has been carried out to relevant issues.Northwestern Polytechnical University Su Zhong fly et al. be with brushless d. c spherical motor
First model machine was made in 1989 in research direction.1994, Huazhong University of Science and Technology Huang Shenghua et al. had developed one three certainly
By the spherical double-fed induction motor of degree, the problems such as three-dimensional magnetic field calculating of the motor and control strategy, is studied.1993
Year, Zhejiang University's department of electrical engineering is all to be waited people quietly and has developed a kind of robot ball-joint two-freedom spherical shape motor, which adopts
With the two-dimentional stepper motor structure of similar frame structure, mixes formula stepper motor by 2 five and form.1999, Ha Er
Shore polytechnical university has developed the aspherical orthogonal cylindrical structure double air gaps of one kind and being total to magnet steel Three Degree Of Freedom stepping motor, belongs to combination
Formula multiple degrees of freedom motor.Later, the permanent magnetism that capital HeFei University of Technology Wang Qun et al. proposes Johns Hopkins University of the U.S.
Type spherical step motor is studied, and Halbach array is applied on permanent magnet spherical motor by University Of Tianjin, to improve
The magnetic distribution of motor makes air-gap field waveform closer to sine, improves the runnability of motor.
Currently, the high-tech sectors such as Industry Control and robot are watched to that can be positioned and be executed in space any direction
The element demand for taking function is growing day by day, more urgent to propose higher to the research of multi-degree of freedom spherical motor and application
Requirement.The work that forefathers are done is made a general survey of, the type of spherical motor model machine is although more, but most of also very imperfect,
Still in the laboratory research stage, away from practical application, there is also a certain distance.Due to the spy of spherical motor structure and principle
Different property needs primary study and solves the problems, such as following aspect finally to realize its industrialization, commercialization：
1. the research and development of new principle model machine and the optimization design problem of existing electric machine structure.According to different application occasion to spherical shape
The different of motor require, the practical spherical motor for continuing to develop using new operation principle, spherical electronic with extension
The type of machine widens the application range of spherical motor.Optimize existing spherical motor structure, keeps electric machine structure simple, be convenient for
Manufacture, improves the mechanical integrity of motor, expands the range of deflection of rotor, and simplified support structure mitigates weight, reduces volume.
2. the computational problem of electromagnetic field and torque.Since spherical motor has complicated magnetic distribution, and mostly
For three dimensional field, it requires that the computational problem of further investigation spherical motor electromagnetic field, trial simplify three dimensional field with two dimensional field
It calculates, to carry out the solution of electromagnetic torque on the basis of two dimensional field, is carried for the Principle Demonstration and structure design of spherical motor
For foundation.
3. Solution of Electromagnetic Field Penetration Problems.Since multi-degree of freedom spherical electric motor structure integrated level is high, necessarily deposited between each degree of freedom
In complicated electromagnetic coupling relationship.How quantitative these coupled relations of analysis and its influence to motor control performance, with
And how to be decoupled, it is critical issue urgently to be resolved hurrily in spherical motor research.
4. motor manufacturing and process issues.Certainly due to the planform of multi-degree of freedom spherical motor and conventional list
There is significant difference by degree cylinder motor, so many empirical equations and icon curve for conventional motor design are not suitable for
The design of spherical motor.Therefore, it is necessary to according to the concrete structure feature of spherical motor, it is public to sum up design of electrical motor experience
Formula, the optimization design for later spherical motor provide reference.Further, since spherical motor is complicated, processing is relatively more tired
Difficulty improves the accuracy of spherical motor processing so must also pay attention to the research of spherical motor processing technology.
5. spherical motor drive control problem.Spherical motor is typical electromechanical integrated product, drive control
System will not only be detected the angular displacement of each degree of freedom, speed, acceleration, output torque and stator coil, also real
The now decoupling control between each degree of freedom, trajectory planning, it is therefore necessary to develop and be suitable for multi-degree of freedom spherical Motor Control
The special control component of system and adopting computerizeds control, and develops computer control system.
6. position detection and positioning accuracy problem.To make spherical motor complete the positioning fortune of space spherical surface any position
It is dynamic, realize the optimal path search of trajectory planning, must be requested that the three-dimensional position sensing system with high-resolution is realized
The detection of rotor spherical surface position, and it is conceived to the resolving accuracy for improving detecting system, realize multi-degree of freedom spherical motor
Closed-loop control.
Invention content
The present invention is to solve the above-mentioned problems, it is proposed that a kind of spherical structure two-freedom hybrid type stepping motor and its
Using the motor can be adapted in joint of robot and robot bionic eyeball, and the open loop position of motor can be achieved in the present invention
Control is set, saves position sensor, and even if in the case where open ring position controls service condition, it also can be by using Multi-level microstep electricity
Higher positioning accuracy is realized in road power supply.And then driving joint of robot and robot bionic eyeball may be implemented in a certain range
Interior, certain any track movement of precision lower edge, and, more easily processing more simpler than most traditional spherical motor structures
Manufacture, mechanical integrity higher, rotor deflection range bigger, volume smaller, weight are lighter, driving circuit more simplifies, control
Mode is more simple, operation flatness is more preferable.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of spherical structure two-freedom hybrid type stepping motor, including the first freedom motor, the second degree of freedom electricity
Machine and output shaft, wherein first freedom motor is the ring-shaped structure with a notch, second freedom motor
For the ring-shaped structure with an opening, and the notch is adapted with opening so that the place plane of two motors is perpendicular
It is orthogonal；
First freedom motor, the second freedom motor include stator and rotor, and rotor with stator affiliated
Relative motion can occur in the place plane of motor, by two freedom motor respectively self-movements, realize and be arranged at it
The two-freedom of output shaft on middle one degree of freedom motor moves.
First freedom motor is identical as the second freedom motor structure, include rotor portion and stationary part,
Rotor portion includes that cylindrical non-magnetic rotor field spider, annular permanent magnet and the annular that is arranged in permanent magnet both sides laminate rotor
Iron core, the rotor core outside are evenly arranged several small teeth；Stationary part includes arc laminating stator cores and stator winding,
Magnetic pole is distributed in stator core inner circumferential, and stator winding is equipped in interpolar slot, the small tooth of stator is distributed on the pole shoe of magnetic pole.
The permanent magnet, rotor core and non-magnetic rotor field spider are equipped with the opening of same size, permanent magnet and rotor
Iron core is sleeved on non-magnetic rotor field spider so that the aperture position of three is aligned.
If the stator core is equipped with dry bearing and bearing holder (housing, cover) axis, all bearings of each freedom motor and bearing holder (housing, cover) axis
Central axis be located at same cylindrical plane, the mechanical engagement mode between bearing and non-magnetic rotor field spider be interference fit.
Mutual wrong 1/2 tooth pitch of small tooth in the both ends rotor core of the rotor portion.
The tooth pitch of the small tooth of stator is identical as the small tooth tooth pitch of rotor.
The stator core radian is more than 180 °, and is less than rotor core radian.
A certain size air gap separation is equipped between the frame bore and rotor core outer diameter.
The stator and rotor central axis of first freedom motor and the stator and rotor central axis of the second freedom motor
Perpendicular quadrature, intersection point are the centre of sphere of spherical motor.
The stator core of first freedom motor is fixed by pedestal, and rotor portion passes through bearing and non-magnetic
Rotor field spider is rotated around stationary part；
The whole rotor portion with the first freedom motor of second freedom motor rotates synchronously, pivot center and the
The stator and rotor central axis of single-degree-of-freedom motor overlaps, and the stationary part of the second freedom motor turns around the rotor portion of itself
Dynamic, pivot center is orthogonal with the stator and rotor central axis upright of the first freedom motor.
The stator winding is concentratred winding, is wrapped on the magnetic pole of stator core, same phase stator winding is wrapped in phase
On two adjacent magnetic pole of the stator and coiling direction is on the contrary, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle,
(j+0.5/m) θ is mutually staggered with two magnetic pole of the stator where the adjacent two-phase stator winding in identical coiling directionrMechanical angle
Degree, k and j are positive integer and k<J, m are the winding number of phases, θrFor rotor tooth elongation.
In motor rotation process, the constant distance of output shaft terminal point to the centre of sphere is constant, i.e. output shaft terminal point
Running orbit be always positioned on same spherical surface, running orbit range is limited to the extreme rotational angle model of two freedom motors
It encloses.
The number of the stator winding is adapted with the number of phases of motor.
A kind of joint of robot specifically includes above-mentioned spherical structure two-freedom hybrid type stepping motor.
A kind of robot bionic eyeball, including above-mentioned spherical structure two-freedom hybrid type stepping motor.
Operation principle of the present invention：For the first freedom motor, permanent magnet flux Φ 1 is through annular permanent magnet → mono- section rotor iron
The heart → air gap → stator core → air gap → another section of rotor core → annular permanent magnet forms closed circuit, when stator winding is pressed
When certain sequence is powered, motor works in hybrid type stepping motor state, the rotor of the first freedom motor together with second from
By the whole stator relative to the first freedom motor of degree motor around the first freedom motor stator and rotor central axis (it is assumed that
For X-axis) rotation, so that output shaft is realized and is swung around X-direction.For the second freedom motor, permanent magnet flux Φ 2 is through annular permanent magnet
Body → mono- section rotor core → air gap → stator core → air gap → another section of rotor core → annular permanent magnet formation is closed back
Road, when stator winding is powered in certain sequence, motor equally works in hybrid type stepping motor state, the second degree of freedom electricity
The stator of machine is (vertical with X-axis around the stator and rotor central axis of the second freedom motor relative to the rotor of the second freedom motor
It is orthogonal, it is assumed that be Y-axis) rotation, so that output shaft is realized and is swung around Y direction.By suitably giving the first freedom motor and second
Freedom motor is powered, and output shaft realization can be made to make two-freedom movement around X-axis and Y-axis in a certain range.
It regards as on tellurion respectively the track that the respective movement of two freedom motors of the invention makes output shaft end run
Warp and weft.In practice, the movement of two freedom motors be all within certain extreme rotational angular range,
I.e. it is believed that output shaft can be within the scope of one section of spherical surface that maximum longitude warp and maximum dimension weft are surrounded with certain essence
Degree is moved along arbitrary trajectory.Therefore, as long as the motion range of the joint of robot of actual requirement or robot bionic eyeball exists
Within the scope of one section of spherical surface that above-mentioned maximum meridian and maximum latitude line are surrounded, then the present invention can drive joint or eyeball
It is moved along arbitrary trajectory with certain precision in claimed range.
Beneficial effects of the present invention are：
1. using new operation principle and electric machine structure, the type of multi-degree of freedom spherical motor, electromechanics are extended
Integrated level and stock utilization are higher, and the range of deflection of output shaft is larger, can meet or exceed ± 45 °, support construction compared with
It is simple, is advantageously implemented the functionization, lightweight and small size of spherical motor.
2. the electromagnetic field and Analysis on Torque that simplify motor calculate.The first freedom motor and the second degree of freedom of the present invention
Motor is hybrid type stepping motor, and the electromagnetic field and torque calculation for hybrid type stepping motor have a large amount of point
Analysis research, and can Three-Dimensional Field Calculation be simplified using two dimensional field, bring very big side for the Proof-Of Principle and structure design of motor
Just.
3. solving Solution of Electromagnetic Field Penetration Problems.The first freedom motor and the second freedom motor of the present invention is by not leading
Magnet rotor holder is fixed together, therefore the two is independent from each other in terms of electromagnetism, between be not present electromagnetic coupling relationship,
The electromagnetism for greatlying simplify motor calculates and performance evaluation, solves the critical issue in spherical motor research process.
4. simplifying motor manufacturing and processing technology.Two freedom motors of the present invention are mutual indepedent in terms of electromagnetism
, electromagnetic design can be individually carried out for each freedom motor, therefore many routine hybrid type stepping motors that are used for are set
The empirical equation and diagram curve of meter are suitable for the present invention, and two freedom motors of the invention can be made respectively in addition
It makes and processes, assembled after processing is completed, therefore manufacture and processing technology can be simplified, ensure each freedom motor
Machining accuracy, to improve the machining accuracy of spherical motor entirety.
5, the driving control system of motor is simplified.Two freedom motors of the present invention work in hybrid stepping electricity
Motivational state and independently of each other, therefore can be used the electric current subdivision drive control method pair two suitable for hybrid type stepping motor
A freedom motor is individually driven and is controlled, and the decoupling control between two degree of freedom is realized, and is convenient for track rule
It draws and control algolithm research enormously simplifies driving control system in addition, using ripe integrated subdivision drive control circuit
Development, convenient for exploitation computer control system, improve control driving integration, integration degree.
6, open ring position control can be achieved, save position sensor, and opened loop control positioning accuracy is higher.The two of the present invention
A freedom motor works in hybrid type stepping motor state and independently of each other, therefore can carry out open ring position control respectively
System, the height of opened loop control positioning accuracy depend on the step angle size of each freedom motor, and hybrid type stepping motor
The advantages of be, electric current subdivision drive method can be used under the conditions of opened loop control and improve positioning accuracy, and electric current high-subdividing number is bigger,
Positioning accuracy is higher, therefore can meet different positioning accuracy requests by changing electric current high-subdividing number.
7, conveniently motor is tested for the property and experimental study.On the one hand, two freedom motors of the invention are mutual
It is independent, therefore can be tested for the property respectively and experimental study.On the other hand, experiment test is carried out to each freedom motor
When, the test prototype in rotor portion (including permanent magnet, rotor core and non-magnetic rotor field spider) imperforation region can be constructed, is surveyed
Sample machine is compared to original motor dimensional structure parameter constant but can carry out being more than 360 ° of rotations, and can be installed on test prototype
Shaft so that performance test and experiment research for conventional motor may be directly applied to test prototype.
As can be seen that the spherical structure two-freedom hybrid type stepping motor of the present invention and traditional multi-degree of freedom spherical
Motor is compared with structural principle is simple, mechanical integrity is high, design convenience of calculation, fabricates easy, drive control side
Formula is simple, opened loop control can be achieved and advantage that opened loop control positioning accuracy is high, to push functionization, the industry of spherical motor
Change, commercialization provides new thinking and solution.
Description of the drawings
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is the first freedom motor overall structure figure of the present invention；
Fig. 3 is the second freedom motor overall structure figure of the present invention；
Fig. 4 is the first freedom motor structural exploded view of the present invention；
Fig. 5 is the second freedom motor structural exploded view of the present invention；
Fig. 6 is each winding wiring figure of stator winding of the first freedom motor of the invention (by taking 2 phase motors as an example, in figure
"×" indicates the vertical paper of winding direction inwards, and " " indicates that the vertical paper of winding direction is outside)；
Fig. 7 is each winding wiring figure of stator winding of the second freedom motor of the invention (by taking 2 phase motors as an example)；
Fig. 8 is the first freedom motor extreme rotational angle schematic diagram of the present invention；
Fig. 9 is the second freedom motor extreme rotational angle schematic diagram of the present invention；
Figure 10 is the output shaft terminal point running orbit range schematic diagram of the present invention；
Figure 11 is each winding wiring figure of stator winding of the first freedom motor of the invention (by taking 3 phase motors as an example)；
Figure 12 is each winding wiring figure of stator winding of the second freedom motor of the invention (by taking 3 phase motors as an example)；
Figure 13 is the experiment test model machine overall structure figure (stator winding of test prototype of the first freedom motor of the invention
Each winding wiring mode such as Fig. 6)；
Figure 14 is the experiment test model machine overall structure figure (stator winding of test prototype of the second freedom motor of the invention
Each winding wiring mode such as Fig. 7)；
In figure, 1. first freedom motors, 2. second freedom motors, 3. output shafts, 4. pedestals, 5. stator cores, 6.
Non-magnetic rotor field spider, 7. rotor cores, 8. permanent magnets, 9. bearings, 10. bearing holder (housing, cover) axis, 11. stator winding, 12. output shafts end
Spherical surface where holding endpoint running orbit, 13. 45 ° of east longitude warps, 14. 45 ° of south latitude wefts, 15. 45 ° of west longitude warps, 16. north latitude
45 ° of wefts, 17. first freedom motor test prototype shafts, 18. second freedom motor test prototype shafts.
Specific implementation mode：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of spherical structure two-freedom hybrid type stepping motor, when the present invention is used as the hybrid step of two-phase two-freedom
When into motor, motor overall structure is as shown in Figure 1, including the first freedom motor 1, the second freedom motor 2, output shaft 3
With pedestal 4, as shown in Figure 2 and Figure 3.By Fig. 4, electric machine structure exploded view shown in fig. 5 as it can be seen that each freedom motor includes turning
Subdivision and stationary part, rotor portion include the two of cylindrical non-magnetic rotor field spider 6, annular permanent magnet 8 and its both sides
Section annular laminates rotor core 7, and 7 outside of rotor core is evenly arranged several small teeth, the small tooth on two-stage rotor iron core 7 mutual wrong 1/
2 tooth pitches, permanent magnet 8, rotor core 7 and non-magnetic rotor field spider 6 are equipped with the opening of same size, permanent magnet 8 and rotor iron
The heart 7 is sleeved on non-magnetic rotor field spider 6 so that the aperture position of three is aligned；Stationary part includes arc laminating stator iron
The radian of the heart 5, bearing 9, bearing holder (housing, cover) axis 10 and stator winding 11, stator core 5 is more than 180 °, but less than the arc of rotor core 7
Degree, 5 inner circumferential of stator core are distributed with magnetic pole, stator winding 11 are equipped in interpolar slot, is distributed on the pole shoe of magnetic pole small with rotor
The small tooth of the identical stator of tooth tooth pitch；The stator core 5 of described two freedom motors is equipped with bearing 9 and bearing holder (housing, cover) axis 10, often
The central axis of all bearings 9 of a freedom motor and bearing holder (housing, cover) axis 10 is located at same cylindrical plane, bearing 9 and non-magnetic rotor
Mechanical engagement mode between holder 6 is interference fit；Rotor core 7 and permanent magnet 8 pass through non-magnetic rotor field spider 6, bearing
9, bearing holder (housing, cover) axis 10 is fixed together with stator core 5, is equipped between 7 outer diameter of 5 internal diameter of stator core and rotor core certain big
Small air gap interval；The stator core 5-1 of first freedom motor 1 is fixed with pedestal 4, the stator of the second freedom motor 2
Output shaft 3 is equipped at the centers iron core 5-2, output shaft 3 can connect load equipment.
The inside and outside diameter of described two freedom motor rotor cores 7 is identical, the rotor core 7 of two motors and permanent magnet 8
It is fixed together by 6 perpendicular quadrature of non-magnetic rotor field spider so that the stator and rotor central axis X axis of the first freedom motor 1
With the stator and rotor central axis Y-axis perpendicular quadrature of the second freedom motor 2, intersection point is the centre of sphere of spherical motor；
The diameter of 6 central cylindrical portion of non-magnetic rotor field spider and both sides column part respectively with rotor core 7
Internal diameter is identical with outer diameter, and 6 both sides column part surface of non-magnetic rotor field spider is smooth, can be that bearing 9 provides sliding rail.
The present invention realizes that two-freedom operation logic is as follows：As shown in figs. 4 and 6, the stator department of the first freedom motor 1
(including stator core 5-1, bearing 9-1, bearing holder (housing, cover) axis 10-1 and stator winding 11-1,11-2,11-3,11-4) is divided to pass through pedestal
4 is fixed, when two-phase stator winding is powered by the sequence of (+A)-(+B)-(- A)-(- B), rotor portion (including not
Magnetic conduction rotor field spider 6-1 and 6-2, rotor core 7-1 and 7-2, permanent magnet 8-1) it can be turned about the X axis by bearing 9-1, and energy
Enough output shaft 3 and the second freedom motor 2 is driven to turn about the X axis, as shown in Figure 1.On this basis, when the second freedom motor
When 2 two-phase stator winding (including 11-5,11-6,11-7,11-8) is powered by the sequence of (+A)-(+B)-(- A)-(- B),
Second freedom motor 2 stationary part (including stator core 5-2, bearing 9-2, bearing holder (housing, cover) axis 10-2 and stator winding 11-5,
11-6,11-7,11-8) it can be rotated around Y-axis by bearing 9-2, and output shaft 3 is driven to be rotated around Y-axis, as shown in Figure 5, Figure 7.Cause
This, output shaft 3 can rotate under the first freedom motor 1, the driving of the second freedom motor 2 rotating around X-axis, Y-axis, and two
The movement of freedom motor is mutual indepedent, to realize that two-freedom moves.Since X-axis and Y-axis are in space perpendicular quadrature always,
Intersection position is constant and is the centre of sphere of integral spherical motor, and the central axis of output shaft 3 passes through the centre of sphere, therefore turns in motor
During dynamic, the constant distance of output shaft 3 terminal point to the centre of sphere is constant, i.e., the running orbit of 3 terminal point of output shaft is always
On same spherical surface 12, running orbit range is limited to the extreme rotational angular range of two freedom motors.Wherein, first
θ in the extreme rotational angle such as Fig. 8 of freedom motor 11It is shown, in the extreme rotational angle such as Fig. 9 of the second freedom motor 2
θ2It is shown.With two freedom motor extreme rotational angle, θs1=θ2=45 °, the step angle (machine turned over per one step of step run
Tool angle) for 1.8 °, the operation area of 3 terminal point of output shaft is included in 45 ° of warps 13 of east longitude, 45 ° of wefts of south latitude just
14,45 ° of wefts 15 of west longitude, within the scope of the spherical area that 45 ° of wefts 16 of north latitude are surrounded, as shown in Figure 10, this spherical surface area
Dot matrix within the scope of domain is all positions in space that 3 terminal point of output shaft can reach.As seen from Figure 10, the step of motor
Elongation is smaller, then adjacent 2 points of spherical distance is closer in dot matrix, indicates that the positioning accuracy of 3 terminal point of output shaft is higher.It is real
In border, (hybrid type stepping motor uses electric current Multi-level microstep mode for existing skill to generally use electric current Multi-level microstep mode
Art is general knowledge known in this field) to reduce step angle, and electric current high-subdividing number is bigger, and step angle is smaller, positioning accuracy is higher.
For example, when using 64 electric current Multi-level microstep, step angle can be reduced to 1.8 °/64, about 0.03 °, this is in open loop operation condition
Under be very high positioning accuracy.
The present invention is typically used as two-phase and three phase motor structure, and Fig. 6, Fig. 7 are when the present invention is used as two-phase motor
Stator winding wiring schematic diagram, Figure 11, Figure 12 are the stator winding wiring schematic diagram when present invention is used as threephase motor.Stator
Winding 11 is concentratred winding, is wrapped on the magnetic pole of stator core 5, same phase stator winding is wrapped in two adjacent stator magnets
Extremely upper and coiling direction is on the contrary, such as A phase stator winding 11-9,11- in A phase stator winding 11-1,11-2 and Figure 11 in Fig. 6
Shown in 10, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle；Adjacent two-phase with identical coiling direction
Two magnetic pole of the stator where stator winding mutually stagger (j+0.5/m) θrMechanical angle.Wherein, k and j is positive integer and k<J,
M is the stator winding number of phases, θrFor rotor tooth elongation (mechanical angle), the selection of k and j need to ensure between two neighboring magnetic pole of the stator
There are a certain size gaps, and stator winding is embedded to facilitate.For example, where A phase stator winding 11-1 and 11-2 in Fig. 6
Two magnetic pole of the stator mutually stagger (6+0.5) θr(θr=7.2 °), where A phase stator winding 11-1 and B phase stator winding 11-3
Two magnetic pole of the stator mutually stagger (13+0.5/2) θr；Two stators where A phase stator winding 11-9 and 11-10 in Figure 11
Magnetic pole mutually staggers (4+0.5) θr(θr=7.2 °), two where A phase stator winding 11-9 and B phase stator winding 11-11 are fixed
Sub- magnetic pole mutually staggers (9+0.5/3) θr。
Compared to the multi-degree of freedom spherical motor of traditional structure, one of significant advantage of the invention is embodied in easy construction
Test prototype is simultaneously tested for the property and experimental study, this is perfect from product Preliminary design to properties of product to shorten the present invention
R＆D cycle lays a good foundation, and is conducive to push the functionization of product of the present invention, industrialization and commercialization process.With reference to figure
1, Fig. 2, Fig. 3, Figure 13, Figure 14 illustrate building method and performance test and the experimental study side of test prototype of the present invention
Method.Motor of the present invention whole (such as Fig. 1) can split into mutually independent two freedom motors, i.e. the first freedom motor 1 (such as
Fig. 2) and the second freedom motor 2 (such as Fig. 3), and test prototype can be constructed respectively and carries out experiment test.Wherein, for
The test prototype that single-degree-of-freedom 1 constructs is as shown in figure 13, and specific configuration method is as follows：(1) ruler of the first freedom motor 1 is kept
Under very little structure permanence condition, the open area of its rotor portion is supplemented complete so that rotor portion becomes complete cylindrical structure；
(2) spindle portion (can be double shafts or single shaft) is added at rotor portion center.For the survey of the second degree of freedom 2 construction
Sample machine is as shown in figure 14, and specific configuration method is as follows：(1) it keeps under the dimensional structure permanence condition of the second freedom motor 2,
It is the open area of its rotor portion supplement is complete so that rotor portion becomes complete cylindrical structure, while by its stator core
Shape identical with the outside in 1 stator core 5-1 yokes portion of the first freedom motor is designed on the outside of 5-2 yokes portion；(2) in rotor
Spindle portion (can be double shafts or single shaft) is added at portion centers；(3) mounting seat 4 on stator core 5-2.For
The test prototype of two freedom motors, when two-phase stator winding is powered by the sequence of (+A)-(+B)-(- A)-(- B),
Model machine can be rotated as common hybrid type stepping motor, thus can carry out a series of performance tests and experimental study, main
Including：(1) no load test, no-load back electromotive force of the metrical prototype under certain rotating speed, to verify model machine zero load electromagnetism are carried out
The accuracy and reasonability of design；(2) static load experiment is carried out, the torque angle displacement characteristic of metrical prototype loads feelings to verify model machine
The accuracy and reasonability that static torque designs under condition；(3) steady state load experiment is carried out, the torque frequency feature of metrical prototype obtains
Model machine torque with rotating speed changing rule, to determine the optimum operation range of speeds of model machine；(4) electric motor starting experiment is carried out, is surveyed
Zero load and the maximum starting frequency of load for measuring model machine, to determine the starting speed range of model machine；(5) open loop operation positioning accurate is carried out
Test experiments are spent, it, can be with the angle of metrical prototype actual rotation by installing encoder or angular transducer in model machine shaft
Numerical value (can carry out multigroup measurement) in different loads, by the theoretical value under this measured value and opened loop control service condition
Value (driver exports total umber of pulse and is multiplied by model machine step angle) is compared, and error analysis can be carried out, so that it is determined that model machine
Open loop operation positioning accuracy.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (11)
1. a kind of spherical structure two-freedom hybrid type stepping motor, it is characterized in that：Certainly including the first freedom motor, second
By degree motor and output shaft, wherein first freedom motor is the ring-shaped structure with a notch, and described second freely
It is the ring-shaped structure with an opening to spend motor, and the notch is adapted with opening so that the place plane of two motors
It is perpendicular orthogonal；
First freedom motor, the second freedom motor include stator and rotor, and rotor and stator are in affiliated motor
Place plane in relative motion can occur, by two freedom motor respectively self-movements, realization is disposed therein one
The two-freedom of output shaft on a freedom motor moves；
First freedom motor is identical as the second freedom motor structure, includes rotor portion and stationary part, rotor
Part includes that cylindrical non-magnetic rotor field spider, annular permanent magnet and the annular that is arranged in permanent magnet both sides laminate rotor iron
The heart, the rotor core outside are evenly arranged several small teeth；Stationary part includes arc laminating stator cores and stator winding, is determined
Magnetic pole is distributed in sub- iron core inner circumferential, and stator winding is equipped in interpolar slot, the small tooth of stator is distributed on the pole shoe of magnetic pole；
The stator and rotor central axis of first freedom motor and the stator and rotor central axis upright of the second freedom motor
Orthogonal, intersection point is the centre of sphere of spherical motor.
2. a kind of spherical structure two-freedom hybrid type stepping motor as described in claim 1, it is characterized in that：The permanent magnetism
Body, rotor core and non-magnetic rotor field spider are equipped with the opening of same size, and permanent magnet and rotor core are sleeved on non-magnetic
On rotor field spider so that the aperture position of three is aligned.
3. a kind of spherical structure two-freedom hybrid type stepping motor as described in claim 1, it is characterized in that：The rotor
Mutual wrong 1/2 tooth pitch of small tooth in partial both ends rotor core.
4. a kind of spherical structure two-freedom hybrid type stepping motor as described in claim 1, it is characterized in that：The stator
The tooth pitch of small tooth is identical as the small tooth tooth pitch of rotor.
5. a kind of spherical structure two-freedom hybrid type stepping motor as described in claim 1, it is characterized in that：The stator
Iron core radian is more than 180 °, and is less than rotor core radian；
A certain size air gap separation is equipped between the frame bore and rotor core outer diameter.
6. a kind of spherical structure two-freedom hybrid type stepping motor as described in claim 1, it is characterized in that：Described first
The stator core of freedom motor is fixed by pedestal, and rotor portion is by bearing and non-magnetic rotor field spider around stator department
Divide rotation；
The whole rotor portion with the first freedom motor of second freedom motor rotates synchronously, and pivot center and first is certainly
It is overlapped by the stator and rotor central axis of degree motor, the stationary part of the second freedom motor is rotated around the rotor portion of itself, is turned
Shaft line is orthogonal with the stator and rotor central axis upright of the first freedom motor.
7. a kind of spherical structure two-freedom hybrid type stepping motor as described in claim 1, it is characterized in that：The stator
Winding is concentratred winding, is wrapped on the magnetic pole of stator core, and same phase stator winding is wrapped in two adjacent magnetic pole of the stator
Upper and coiling direction is on the contrary, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle has identical coiling direction
Adjacent two-phase stator winding where two magnetic pole of the stator mutually stagger (j+0.5/m) θrMechanical angle, k and j are positive integer
And k<J, m are the winding number of phases, θrFor rotor tooth elongation.
8. a kind of spherical structure two-freedom hybrid type stepping motor as described in claim 1, it is characterized in that：In spherical junctions
In structure two-freedom hybrid type stepping motor rotation process, the constant distance of output shaft terminal point to the centre of sphere is constant, i.e., defeated
The running orbit of shaft terminal point is always positioned on same spherical surface, and running orbit range is limited to the pole of two freedom motors
Limit rotational angle range.
9. a kind of spherical structure two-freedom hybrid type stepping motor as described in claim 1, it is characterized in that：The stator
The number of winding is adapted with the number of phases of two freedom motors.
10. a kind of joint of robot, characterized in that freely including spherical structure two as claimed in any one of claims 1-9 wherein
Spend hybrid type stepping motor.
11. a kind of robot bionic eyeball, it is characterized in that：Including spherical structure two as claimed in any one of claims 1-9 wherein
Degree of freedom hybrid type stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610910671.0A CN106341025B (en) | 2016-10-19 | 2016-10-19 | A kind of spherical structure two-freedom hybrid type stepping motor and its application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610910671.0A CN106341025B (en) | 2016-10-19 | 2016-10-19 | A kind of spherical structure two-freedom hybrid type stepping motor and its application |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106341025A CN106341025A (en) | 2017-01-18 |
| CN106341025B true CN106341025B (en) | 2018-09-14 |
Family
ID=57840143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610910671.0A Expired - Fee Related CN106341025B (en) | 2016-10-19 | 2016-10-19 | A kind of spherical structure two-freedom hybrid type stepping motor and its application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106341025B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7184047B2 (en) * | 2017-10-31 | 2022-12-06 | ソニーグループ株式会社 | robot equipment |
| CN108021534B (en) * | 2017-11-17 | 2021-04-27 | 天津大学 | Permanent magnet spherical motor position detection method based on 3-D magnetic field sensor |
| CN109245356A (en) * | 2018-09-18 | 2019-01-18 | 艾德斯汽车电机无锡有限公司 | Circular arc joint motor |
| CN109955237A (en) * | 2019-04-30 | 2019-07-02 | 深圳市爱因派科技有限公司 | Two degrees of freedom supersonic motor steering engine and robot |
| CN110086311A (en) * | 2019-05-24 | 2019-08-02 | 安徽大学 | A kind of magnetic resistance type globular motor of rotor salient pole type structure |
| CN111262380A (en) * | 2020-01-15 | 2020-06-09 | 天津大学 | Spherical motor based on aerostatic bearing supports |
| CN114227638B (en) * | 2021-11-29 | 2023-11-28 | 广州市微眸医疗器械有限公司 | Master-slave mapping method and correction method for robot operating lever and robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4660770B2 (en) * | 2006-08-21 | 2011-03-30 | 国立大学法人 鹿児島大学 | 3-DOF active rotary joint |
| CN104888460A (en) * | 2014-03-06 | 2015-09-09 | 周志昌 | Robot eyeball capable of moving in multiple directions |
| CN105356790B (en) * | 2015-11-16 | 2017-08-18 | 中北大学 | Rub the micro- energy resource collecting device of piezoelectricity magnetic electric compound three-dimensional space multi-freedom |
| CN206077197U (en) * | 2016-10-19 | 2017-04-05 | 山东大学 | A kind of spherical structure two-freedom hybrid type stepping motor |
-
2016
- 2016-10-19 CN CN201610910671.0A patent/CN106341025B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN106341025A (en) | 2017-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106341025B (en) | A kind of spherical structure two-freedom hybrid type stepping motor and its application | |
| CN106451994B (en) | A kind of robot bionic eyeball two-freedom hybrid type stepping motor | |
| Song et al. | Field prediction and validation of a slotless segmented-Halbach permanent magnet synchronous machine for more electric aircraft | |
| Gan et al. | Tilting torque calculation of a novel tiered type permanent magnet spherical motor | |
| Rossini et al. | Rotor design optimization for a reaction sphere actuator | |
| CN206077197U (en) | A kind of spherical structure two-freedom hybrid type stepping motor | |
| Cho et al. | A study on output characteristics of the spherical multi-DOF motor according to the number of phases and pole pitch angles | |
| CN206117468U (en) | Combined two degrees of freedom on quadrature cylinder structure hybrid step motor | |
| CN102480253B (en) | Permanent-magnet rotor deflection-type three-degree-of-freedom motion motor | |
| Yan et al. | Hybrid torque modeling of spherical actuators with cylindrical-shaped magnet poles | |
| Chai et al. | A novel tiered type permanent magnet spherical motor and its rotor orientation measurement principle | |
| Yan et al. | Analysis of pole configurations of permanent-magnet spherical actuators | |
| CN206117467U (en) | Two degrees of freedom of non - spherical orthohormbic structure hybrid step motor | |
| Zhou et al. | Drive current calculation and analysis of permanent magnet spherical motor based on torque analytical model and particle swarm optimization | |
| CN106341026B (en) | Aspherical orthohormbic structure two-freedom hybrid type stepping motor and its method | |
| CN106341027B (en) | Combined orthogonal cylindrical structure two-freedom hybrid type stepping motor and its application | |
| CN106341024B (en) | The orthogonal cylindrical structure two-freedom hybrid type stepping motor of robot | |
| Labbé et al. | Torque-to-weight ratio maximization in PMSM using topology optimization | |
| Caruso et al. | Speed control of a two-degrees of freedom induction motor with rotor helical motion for industrial applications | |
| Rossini et al. | Analytical and experimental investigation on the force and torque of a reaction sphere for satellite attitude control | |
| Li et al. | Magnetic field analysis for the permanent magnet spherical motor with SMC core | |
| CN106936337A (en) | Magnetic-floating plane electric rotating machine and lithographic equipment | |
| Yan et al. | Magnetic field analysis of electromagnetic spherical actuators with multiple radial poles | |
| Zhou et al. | Structural design and FEA of a new type of multi-DOF spherical induction motor without output shaft | |
| Lee et al. | Hybrid multi-dof motor for multi-copter unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180914 Termination date: 20201019 |