CN115912843A - Combined two-degree-of-freedom permanent magnet stepping motor - Google Patents

Abstract

The invention discloses a combined two-degree-of-freedom permanent magnet stepping motor, and relates to the technical field of motors. The invention comprises the following steps: the motor comprises a motor shell, wherein a first motor is detachably arranged in the motor shell, and a first transmission gear is fixedly connected to the output end of the first motor; the bearing block is installed on the motor shell, a second motor is rotatably connected to the bearing block, a second transmission gear is fixedly connected to one side of the second motor, and a freedom degree disc is installed on the other side of the second motor. The invention provides a combined type permanent magnet stepping motor with two degrees of freedom, which expands the types of multi-freedom motors, has higher material utilization rate of the motors, wider rotation range of output shafts and higher positioning precision, can meet the actual use requirements, and has wide application prospect in the industries of mechanical arm rotation, bionic eyeballs, robot bionic joints and industrial manufacturing.

Description

A combined two-degree-of-freedom permanent magnet stepper motor

technical field

The invention relates to the technical field of motors, in particular to a combined two-degree-of-freedom permanent magnet stepping motor.

Background technique

Multi-degree-of-freedom motors can realize complex movements in space, and have the advantages of simple structure, high control precision and wide application range. They have broad application prospects in robot bionic joints, mechanical arms and industrial manufacturing. Under the same application background, multi-freedom motors can replace two or more motors at the same time, thereby reducing the volume of the system, simplifying the structure of the system, improving the dynamic performance of the system, and reducing costs. achieve the same effect or better. Therefore, multi-degree-of-freedom motors have broad application prospects in robotic bionic joints, robotic arms, and industrial manufacturing.

Although there are many types of existing multi-degree-of-freedom motors, most of them are still in the experimental stage, and there are still many improvement points for practical application. In the design process, the design of the traditional multi-degree-of-freedom motor with spherical structure is relatively difficult, and the control system is also relatively difficult. It needs to be equipped with a position sensor to measure the position of the motor in real time, so that the system forms a closed-loop system to achieve accurate positioning of the motor output shaft. The advantage is that the positioning accuracy becomes higher, and the disadvantage is that the body is too large and the design of the control system is too complicated. Therefore, we propose a combined two-degree-of-freedom permanent magnet stepper motor.

Contents of the invention

The purpose of the present invention is to provide a combined two-degree-of-freedom permanent magnet stepper motor, obtain a multi-degree-of-freedom motor with small volume and simple structure, simplify the control system and reduce the number of motors while ensuring the output accuracy of the output shaft. Design structure complexity.

In order to achieve the above object, the present invention provides the following technical solutions: a combined two-degree-of-freedom permanent magnet stepper motor, comprising:

A motor casing, a first motor is detachably installed inside the motor casing, and a first transmission gear is fixedly connected to the output end of the first motor;

A bearing seat, the bearing seat is installed on the motor casing, a second motor is rotatably connected to the bearing seat, one side of the second motor is fixedly connected with a second transmission gear, and the other side of the second motor A disc with degrees of freedom is installed.

Further, the first motor is fixed to the motor casing through buckles.

Further, the first motor includes a first stator and a first rotor, and the second motor includes a second stator and a second rotor.

Further, the first stator includes a first stator core and a first stator winding, the material of the first stator core is silicon steel sheet, and the material of the first stator winding is copper.

Further, the number of the first stator windings is eight, which are two-phase, concentrated windings.

Further, the first rotor includes a first permanent magnet and a first rotating shaft, the second rotor includes a second permanent magnet and a second rotating shaft, and the first permanent magnet and the second permanent magnet are both made of alnico.

Further, the second stator includes a second stator core and a second stator winding, the material of the second stator core is silicon steel sheet, and the material of the second stator winding is copper.

Further, the second stator is annular, and its arc exceeds 180°, which is larger than the arc of the second rotor.

Further, the number of the second stator windings is four, which are two-phase, concentrated windings.

Further, the first transmission gear and the second transmission gear are connected in an orthogonal manner, and the first transmission gear and the second transmission gear mesh with each other.

The present invention at least has the following beneficial effects:

1. The present invention provides a combined two-degree-of-freedom permanent-magnet stepping motor, which expands the types of multi-freedom motors. The material utilization rate of the motor is high, the rotation range of the output shaft is wide, and the positioning accuracy is high. , which can meet the actual use requirements.

2. The invention has a wide range of applications, and can be used for mechanical arm rotation, bionic eyeballs, robot bionic joints and industrial manufacturing, and has broad application prospects.

3. The present invention is realized by the combination of two motors, which can be processed separately, which simplifies the manufacturing and processing of the motors. The first motor and the second motor can be processed separately and used separately, and only need to be assembled when two degrees of freedom are required.

4. The two-degree-of-freedom motor of the present invention is connected with a trapezoidal transmission gear, which greatly reduces other unnecessary connecting tools and can increase the overall performance. The second motor end is equipped with a sliding bearing. When the first motor drives the second motor to move , the unnecessary loss and position error caused by the rotation of the second motor can be greatly reduced.

5. The present invention has a cylindrical structure as a whole, and the interior is designed with buckles, gear connections, and baffles, which reduces the overall volume, and can ensure the fixation of the internal motor, and there will be no imbalance due to mechanical structure and electromagnetic influence , to achieve the stability of the working state during the overall operation.

Of course, any product implementing the present invention does not necessarily need to achieve all the above-mentioned advantages at the same time.

Description of drawings

Fig. 1 is the front sectional schematic diagram of overall structure of the present invention;

Fig. 2 is the right view of overall structure of the present invention;

Fig. 3 is the top view of overall structure of the present invention;

Fig. 4 is the top view of the first motor of the present invention;

5 is a schematic diagram of the internal structure of the first motor of the present invention;

Fig. 6 is the side view of the second motor of the present invention;

Fig. 7 is a schematic diagram of the internal structure of the second motor of the present invention.

Reference signs:

1. Motor casing; 2. The first motor; 21. The first stator; 22. The first rotor; 23. The first stator core; 24. The first stator winding; 25. The first permanent magnet; 26. The first 1 rotating shaft; 3, the first transmission gear; 4, bearing seat; 5, the second motor; 51, the second stator; 52, the second rotor; 53, the second stator core; 54, the second stator winding; 55, the second Two permanent magnets; 56, the second rotating shaft; 6, the second transmission gear; 7, the degree of freedom disk; 8, the connecting rod.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

Please refer to Figures 1-3, the present invention provides a technical solution: a combined two-degree-of-freedom permanent magnet stepper motor, including:

A motor housing 1, a first motor 2 is detachably installed inside the motor housing 1, and a first transmission gear 3 is fixedly connected to the output end of the first motor 2;

Bearing seat 4, bearing seat 4 is installed on the motor casing 1, the second motor 5 is connected with rotation on the bearing seat 4, one side of the second motor 5 is fixedly connected with the second transmission gear 6, the other side of the second motor 5 A degree of freedom disk 7 is installed.

It should be noted that the first motor 2 is mainly used to provide a power source for the first transmission gear 3, and the first motor 2 is installed on the motor housing 1 when it is detachable. Connection and other installation methods, but for the technical solution in this application, the first motor 2 is installed on the motor casing 1 with a buckle structure, so as to avoid its movement when the first motor 2 drives the first transmission gear 3 to rotate , to improve the stability of the installation; the second motor 5 is mainly installed in the bearing housing 4 to provide a rotating track for the second motor 5 to reduce sliding friction and achieve better practical results.

The first transmission gear 3 and the second transmission gear 6 mesh with each other. In some embodiments, the first transmission gear 3 and the second transmission gear 6 can be arranged at an oblique angle, can be vertically arranged, etc., aiming at the technical solution of this application , the first transmission gear 3 and the second transmission gear 6 are vertically arranged in an orthogonal form, and both the first transmission gear 3 and the second transmission gear 6 are bevel gears.

According to Fig. 4 and Fig. 5, the first motor 2 includes a first stator 21 and a first rotor 22, the first includes a first stator core 23, a first stator winding 24, the material of the first stator core 23 It is a silicon steel sheet, the material of the first stator winding 24 is copper, and a bracket (not shown in the figure) is arranged outside the first stator core 23, which is mainly used to support and fix the first stator core 23. The number of stator windings 24 is eight, which are two-phase, concentrated windings, shown in Figure 5, as (±A) and (±B), according to (A+)-(B+)-(A-)-(B -) The energization sequence is carried out; the first rotor 22 includes a first permanent magnet 25 and a first rotating shaft 26, and the first permanent magnet 25 is made of AlNiCo material and is divided into N and S poles.

According to Fig. 6 and Fig. 7, the second motor 5 includes a second stator 51 and a second rotor 52, the second stator 51 includes a second stator core 53 and a second stator winding 54, and the material of the second stator core 53 is silicon steel The material of the second stator winding 54 is copper, and a bracket (not shown in the figure) is arranged outside the second stator core 53, which is mainly used to support and fix the second stator core 53. The number of the second stator winding 54 There are four, two-phase, concentrated windings, divided into (±A) and (±B), according to the sequence of (A+)-(B+)-(A-)-(B-) energization; the second rotor 52 includes The second permanent magnet 55 and the second rotating shaft 56, and the second permanent magnet 55 is made of AlNiCo material; The second stator 51 is annular, and its radian exceeds 180 °, which is greater than the radian of the second rotor 52, for Ensure that the second rotor 52 swings in the second stator 51, the second rotor 52 can drive the degree of freedom disk 7 to move within an arc of no more than 90°, and the rotation angle of the second rotor 52 is limited by the arc of the inner diameter of the iron core of the second stator 51. ±45° rotation.

It should be noted that the first transmission gear 3 is fixedly connected to the first rotor 22 through the first rotating shaft 26, and the second transmission gear 6 is fixedly connected to the outer surface of the second motor 5 through the connecting rod 8. When the first transmission gear 3 When driving the second transmission gear 6 to rotate, it can drive the entire second motor 5 to rotate, and the degree of freedom disc 7 is fixedly connected to the second rotor 52 of the second motor 5 through the second rotating shaft 56 .

When the first stator winding 24 is energized in the order of (A+)-(B+)-(A-)-(B-), the first rotor 22 can drive the first transmission gear 3 to rotate, and at the same time drive the second motor 5 to output The first rotating shaft 26 at the end drives the first transmission gear 3 to rotate, thereby driving the second motor 5 to rotate as a whole. When the second motor 5 rotates, in the second stator 51 of the second motor 5, the second stator winding 54 presses (A+ )-(B+)-(A-)-(B-) are energized in sequence, the second rotor 52 will drive the second rotating shaft 56 and the degree of freedom disk 7 to swing, and the first motor 2 and the second motor 5 are independent of each other It needs to be understood that since the first motor 2 and the second connected first transmission gear 3 and the second transmission gear 6 are connected in an orthogonal form in space, the second motor 5 The rotational position of the output shaft is always on the spherical surface.

Further, the movement angle of the load on the output shaft is limited by the rotation angle of the first rotating shaft 26 and the limit swing angle of the second rotate shaft 56, the rotation angle of the first rotate shaft 26 is 360°, and the limit swing angle of the second rotate shaft 56 is ±45°, therefore , the degree of freedom disk 7 of the load on the output end of the second motor 5 can rotate 360° on the X plane, and can swing up and down 45° on the Y plane. As shown in Figure 6, the freedom of the load on the second rotating shaft 56 The degree disc 7 is limited by the rotation limit angle of the second rotor 52, and the movement position is a partial spherical surface.

It should be further explained that the degree of freedom disc 7 connected on the second rotating shaft 56 can also be a load device such as a mechanical arm, a bionic eyeball, a robot bionic joint, etc., so as to expand the scope of application of the present invention in industrial manufacturing and further improve the performance of the device. practicality.

It can be understood that the smaller the step angle of the motor, the higher the precision of the degree of freedom control of the motor. In practice, the processing method of the step angle often adopts the current subdivision driving method to reduce the step angle in turn. When the current subdivision is larger, the layout angle is smaller and the positioning accuracy is higher, but the current finer The larger the score is, it is also a challenge to the existing technology. When driving with 32 current subdivisions, the step angle can be reduced to 1.8°/32, which is 0.055°, which makes the positioning accuracy higher and can be applied to high precision place.

Use principle and flow process of the present invention:

When the first motor 2 is started independently, the first stator winding 24 in the first motor 2 is energized in a certain order, the first rotor 22 rotates, and the first transmission gear 3 on the first rotating shaft 26 is driven to rotate. When the transmission gear 3 drives the second transmission gear 6 to rotate, it can drive the whole second motor 5 to rotate, so that the degree of freedom disk 7 at the output end of the second motor 5 rotates to realize the degree of freedom; The second stator winding 54 in the second motor 5 is energized according to a certain order, and the second motor 5 swings, which drives the degree of freedom disc 7 at the output end of the second motor 5 to swing thereupon to realize the degree of freedom; the first motor 2 and the second motor 5 When the two motors 5 work at the same time, the output shaft of the first motor 2 drives the second motor 5 to rotate as a whole, thereby driving the degree-of-freedom disc 7 at the output end of the second motor 5 to rotate. The sequence determines the swing direction of the second rotor 52, thereby driving the swing direction of the degree of freedom disk 7 at the output end of the second motor 5 to realize two-degree-of-freedom motion. Compared with the traditional multi-degree-of-freedom motor, the combined two-degree-of-freedom motor provided by the present invention The permanent magnet stepper motor has a simpler structure, smaller space and more convenient operation.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device.

Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations. When an element is referred to as being "mounted on," "mounted on," "fixed on" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiment.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

In the description of this specification, descriptions referring to the terms "one embodiment", "example", "specific example" and the like mean that specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one of the present disclosure. In an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims (10)

1. A combined two-degree-of-freedom permanent magnet stepper motor, characterized in that it comprises: A motor housing (1), a first motor (2) is detachably installed inside the motor housing (1), and a first transmission gear (3) is fixedly connected to the output end of the first motor (2); A bearing seat (4), the bearing seat (4) is installed on the motor housing (1), and a second motor (5) is rotatably connected to the bearing seat (4), one of the second motors (5) One side is fixedly connected with a second transmission gear (6), and the other side of the second motor (5) is installed with a degree of freedom disk (7). 2. A combined two-degree-of-freedom permanent magnet stepper motor according to claim 1, characterized in that: the first motor (2) and the motor housing (1) are fixed by buckles. 3. A combined two-degree-of-freedom permanent magnet stepper motor according to claim 2, characterized in that: the first motor (2) comprises a first stator (21) and a first rotor (22) , the second motor (5) includes a second stator (51) and a second rotor (52). 4. A combined two-degree-of-freedom permanent magnet stepper motor according to claim 3, characterized in that: the first stator (21) comprises a first stator core (23) and a first stator For the winding (24), the material of the first stator core (23) is silicon steel sheet, and the material of the first stator winding (24) is copper. 5. A combined two-degree-of-freedom permanent magnet stepping motor according to claim 4, characterized in that: the number of the first stator windings (24) is eight, which are two-phase, concentrated windings. 6. A combined two-degree-of-freedom permanent magnet stepping motor according to claim 3, characterized in that: the first rotor (22) includes a first permanent magnet (25) and a first rotating shaft (26) The second rotor (52) includes a second permanent magnet (55) and a second rotating shaft (56), and the first permanent magnet (25) and the second permanent magnet (55) are both made of AlNiCo material. 7. A kind of combined two-degree-of-freedom permanent-magnet stepper motor according to claim 3, characterized in that: said second stator (51) comprises a second stator core (53) and a second stator winding ( 54), the material of the second stator core (53) is silicon steel sheet, and the material of the second stator winding (54) is copper. 8. A combined two-degree-of-freedom permanent-magnet stepper motor according to claim 7, characterized in that: the second stator (51) is annular, and its arc exceeds 180°, which is larger than the second rotor (52) radians. 9. A combined two-degree-of-freedom permanent magnet stepping motor according to claim 7, characterized in that: the number of the second stator windings (54) is four, which are two-phase, concentrated windings. 10. A combined two-degree-of-freedom permanent magnet stepper motor according to claim 1, characterized in that: the first transmission gear (3) and the second transmission gear (6) are connected in an orthogonal manner, And the first transmission gear (3) and the second transmission gear (6) mesh with each other.

Images