CN1906830A - Coil, its application and dedicated device for making coil - Google Patents

Abstract

The invention discloses a coil, its application and dedicated device for making coil. The technical proposal is: the conductive wire is flat, and the flat wire is wound into flat coil in the same direction. The flat conductive wire contacts with each other closely side by side. The flat coil and a magnetic-cylinder mover constituting the motor pipe and a digital control circuit constitutes a digital control linear stepping motor pub connecting with a digital control circuit in the present invention. The present invention discloses not only an automatic equilibrium system and a synchronous driving device constituted by at least two digital control linear stepping motors, but also a special roller equipment used to make coils, wherein columned coils are rolled into flat coils by the roller. These coils are arranged into a single layer in high density, to make the single-layer coils have thickness of multi-layer coils. As the excitation coils of digital control linear stepping motor, it can generate enough magnetic field intensity. It fits to plaster electrodes on its surface and is feasible to plaster many electrodes on the surface of each coil. It has no teeth and axes and is characteristic of small friction, quick response and adjustive running speed. Therefore, it's of many uses and is easily spread.

Description

Coil, its application and dedicated device for making coil

A kind of coil and its apply special equipment technical field with preparing coil

The present invention relates to a kind of coil and its special equipment with preparing coil is applied, be especially, using applications such as a kind of processed linear stepping motors of spool composition of coil winding, and to prepare the special equipment of the coil.

Background technology

The control of the limb motion and manipulator motion of present robot, is realized by air pressure or hydraulic system, because its systematic comparison is huge, complexity, the change of dynamics and speed when should not control to move；To solve these problems, occur in that the patent of invention technology of Application No. 0181903. 3, it is the stepper motor using rotation, realize that the limbs joint of robot stretches in the wrong by change-speed gearing, although the problems such as system of solving dotes on big, but the motion for still suffering from robot is dumb, while being difficult to the defect of a wide range of velocity variations, it is only capable of completing some specific functions；The patent of invention of Application No. 02100723. 3 discloses a kind of permanent magnetic simple stepper moter, in order to obtain accurate trace movement between magnetic mover and spool, also allow for adhesive electrode on coil, spool must be wound by single layer coil, pass through coil electricity, the induced-current that stator moves cutting magnetic field in coil and produced, realize the flexible motion of stepper motor, but, because coil is by the individual layer spool of traditional circular enamel-covered wire coiling, the number of turns wound in unit length is limited, the density of coil is small, the magnetic field intensity of generation is small, define the use scope of the stepper motor, making the superior function of stepper motor can not embody.

Disclosure of the invention

In order to solve drawbacks described above present in prior art, density height is met it is an object of the invention to provide a kind of coil that can make monolayer alignment, the linear stepping motor that linear stepping motor, coil that the extraordinary coil of the electromagnetic field of sufficient intensity, the coil constitute couple and constituted with a digital control circuit can be produced, and its application, in order to realize the purpose of the present invention while additionally providing a kind of special equipment for preparing coil of the present invention.

To achieve these goals, the present invention is adopted the following technical scheme that：A kind of coil, it is made up of wire, ' its feature is：The wire is flat conductive wire, and spiral is coiled between a thin slice line coil, the sheet face of the flat conductive wire and flat conductive wire provided with insulating barrier its flat conductive wire in one direction, and is closely connected；The thin slice line coil surface is provided with several electrodes.

Above-mentioned electrode is with thin slice line coil surface to paste, and the stickup of electrode often encloses one or more positioned at thin slice line coil, can also be spaced a few and paste one；

Above-mentioned thin slice line coil can also divide two sections be coiled into above and below two parts, it is middle to be connected by a switching tube.Second object of the present invention is to provide a kind of linear stepping motor, and it includes a stator and a magnetic posts Body moves molecular motor spool and power supply, and its feature is：The coil that stator is coiled into by wire is constituted, and the wire is flat conductive wire, and spiral is coiled between a thin slice line coil, the sheet face of the flat conductive wire and flat conductive wire provided with insulating barrier its flat conductive wire in one direction, and is closely connected；The thin slice line coil surface is provided with several electrodes.

' above-mentioned electrode and the thin slice line coil surface to paste, the stickup of the electrode often encloses at least one or a few for the thin slice line coil.

Above-mentioned two sections of thin slice line coil point be coiled into above and below two parts, it is middle to be connected by a switching tube；The length of the magnetic cylinder mover is the 1/3-2/3 of the thin slice line loop length.

Couple a digital driver circuitry between above-mentioned motor spool and power supply, constitute a digital controlled linear stepper motor.

Above-mentioned digital driver circuitry controls circuit, wake-up circuit to constitute by digital signal generator, on-off circuit, voltage control circuit, multi-channel control circuit, maximum resistance；Wherein, the data signal driving switch circuit that digital signal generator is produced, on-off circuit is connected between voltage control circuit and the motor spool, and voltage control circuit utilizes the motor spool feedack, and adjustment is applied to the electric H on the motor spool;The counter output digit signals set in voltage control circuit, drive variable connector, form multi-channel control circuit；Connected again through some with gate circuit, form maximum resistance control circuit；Wake-up circuit input is connected with voltage control circuit, is received the feedback information that voltage control circuit is sent into by motor spool, is passed through wake-up circuit and power on.

A voltage comparator is set in above-mentioned wake-up circuit, extract an electrode on the motor spool out, it is connected with voltage comparator, reference voltage level built in voltage comparator is set to zero, constitute a zero-crossing detector, voltage comparator output end is when the linear stepping motor is powered off, magnetic cylinder mover in the motor spool is promoted by external force, in its motor lines in-pipe, cutting magnetic line produces induced current, electrode draws the induced current, sends into voltage comparator, voltage comparator output end connection controlling switch turn-on power.

, the 3rd purpose of the invention is to disclose the application of above-mentioned linear stepping motor.

One：A kind of automatic-balancing system, its feature is：It includes two above-mentioned digital controlled linear stepper motors and the digital comparator being located between two numerical control linear stepping motors, the digital comparator is connected with the counter output set in the voltage control circuit set in digital controlled linear stepper motor, positive and negative or 03 kinds of signals are sent through digital comparator, again by the different port of the digital driver circuitry of the linear stepping motor, the running status of the linear stepping motor is controlled.

Secondly：A kind of synchronous drive device, its feature is：It is made up of at least two above-mentioned digital controlled linear stepper motors, wherein, the counter data output end set in the voltage control circuit of a numerical control linear stepping motor connects with the counter data input set in the voltage control circuit of another digital controlled linear stepper motor Connect, synchronous driving is formed by the interaction of data.

4th purpose of the invention is to disclose a kind of special equipment for preparing coil of the present invention, is especially a kind of rolling equipment of thin slice line coil, it includes drive device, its feature is：It is additionally provided with：

, a chassis is connected with a pole thereon;About one accompanies the axle sleeve of pressing plate and the pole top is affixed；The connecting rod of-one coil size adjusting means is located at the top of the top board；

One rotating shaft is arranged in the axle sleeve, and one end of the rotating shaft is connected with two cone-shaped rolls being oppositely arranged, and the other end is connected with a drive, and the drive device connects with the cone-shaped roll and the drive respectively；

One feeding regulating device with charging hole is fixedly installed in cone-shaped roll upper end with baffle fixing；On the downside of baffle fixing and it is respectively fixed with baffle plate positioned at cone-shaped roll both sides；

The wire is drawn by the lead frame of a peripheral hardware, is entered by charging hole in cone-shaped roll, and the flat conductive wire is turned into through its rolling.

The cone angle of above-mentioned cone-shaped roll is 30 90 °.

Technical scheme disclosed by the invention, particularly the digital controlled linear stepper motor that is made up of processed thin slice line coil, possess its in vivo, the total movement of skeletal muscle and perceptional function, in the intelligent control that can be widely applied to robot field.

The design principle of the present invention is based on the analysis to organism, and the skeletal muscle of organism is the muscle for driving skeleton motion.Assuming that a kind of organ in skeletal muscle, referred to as proprioceptor, they be called respectively " muscle-spindle " and ' ' " tendon spindle "." muscle-spindle " is a kind of length receptor, and feedback is provided to the telescopic state information residing for muscle." tendon spindle " is a kind of baroreceptor, can provide resting tension with muscle in itself the information relevant with tension change.They interact relation be：When muscle is pulled, excited first " muscle-spindle " causes reflex activity, cause the contraction of muscle pulled to resist drawing, then can be excited " tendon spindle " when the strength of drawing is further increased, suppress muscle Shou Shrink, to avoid the muscle damage being pulled.

In digital controlled linear stepper motor, the mover of motor by external force when being pulled, and the voltage of motor coil changes, and the comparator in voltage control circuit is found after this change, the driving voltage of motor is improved, to the drawing of external force resistance.If external force continues to increase, the low level of voltage control circuit Counter overflows, high-order by decoder, opens multi-channel control circuit, or maximum resistance limitation supervisory circuit, resists bigger external force.This partial circuit possesses the function of " muscle-spindle ".

Maximum resistance control circuit, the maximum external force that digital controlled linear stepper motor or one group of motor can be resisted can be set, more than when, digital controlled linear stepper motor counter motion, or open others functions, to avoid damaging motor because of excessive external force.This partial circuit possesses the function of " tendon spindle " '.

The present invention is using after above technical scheme, and its advantage is as follows： Due to the highdensity monolayer alignment of thin slice line coil, make a layer line circle that just there is the thickness of lattice coil, it is used as the magnet exciting coil of digital controlled linear stepper motor, enough magnetic field intensities can be produced, suitably in surface mount electrode, multiple electrodes can also be pasted in each circle, be easy to be connected with circuit.This coil has very strong self-supporting power, can save support frame, saves space.Due to foretelling at interior sunset for each circle thin slice line all insertion coils, so the heat for being easy to produce coil inside is conducted.This structure can also be minimized the voltage between adjacent windings, can reduce because short circuit is to the damage caused by coil, insulating materials can also be debased the standard.The digital controlled linear stepper motor manufactured using the coil, powered electrode is converted using digital circuit, to promote the mover in spool to move, it does not have gear, no axle, the small, Digital Circuit Control that rubs, target position is clear and definite, reaction speed is fast, the speed of service can arbitrarily change, use it as " muscle " of robot, robot movable can be made freely, movement velocity can surmount the mankind.Digital controlled linear stepper motor is widely used, and it can replace some mechanical for being used to move between 2 points, such as oil pressure or hydraulic component.Using the loop construction it is simple the characteristics of, it is possible to produce micro- shape motor and microgenerator, for special technique field.Brief description of the drawings

Fig. 1 moves the schematic shapes of molecular linear stepping motor with magnetic cylinder to be stained with by thin slice line coil after electrode；

Fig. 2 is the block diagram of digital controlled linear stepper motor driving circuit；

Fig. 3 is Fig. 2 physical circuit connection figure；

Fig. 4 is the electronic spool cross-sectional view of special tectonic formation；

Fig. 5 is the structural representation of coil rolling equipment；

Fig. 6 is Fig. 5 top view.

The best mode carried out an invention

The utility model best mode is described further below by way of accompanying drawing

The present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in figure 1, length direction close-packed arrays of the thin slice line coil 1 of the present invention by flat conductive wire extensions circle, are formed between a circle flat conductive wire and next circle flat conductive wire so that the big flat horizontal surface insulating materials of area is Nian Jie.The coil surface is pasted with the electrode 3 that several connect with drive circuit, and electrode 3 can be pasted on every circle, can also spacer ring stickup；The flat conductive wire of each circle can paste an electrode 3, can also paste multiple electrodes 3.

The length of magnetic cylinder mover 2 can be arranged as required to, typically with ensure magnetic cylinder mover coil ' Inner normal movements, the length no more than coil is advisable.

The thin slice line coil 1 for being pasted with electrode 3 is oppositely arranged with magnetic cylinder mover 2, organizes the motor spool of stepper motor in line.

' as shown in Fig. 2 coupling a digital control circuit between motor spool 01 and power supply 4, constitute one Digital controlled linear stepper motor.The digital control circuit controls circuit 06, wake-up circuit 07 to constitute by digital signal generator 03, on-off circuit 02, voltage control circuit 04, multi-channel control circuit 05, maximum resistance；Wherein, the data signal driving switch circuit 02 that digital signal generator 03 is produced, on-off circuit 02 is connected between voltage-controlled circuit processed 04 and the motor spool 01, the feedack of motor spool 01 that voltage control circuit 04 is constituted using the thin slice line coil 2 by being stained with electrode 3 with magnetic cylinder mover 1, adjustment is applied to the voltage on the motor spool 01；The data signal that counter in voltage control circuit 04 is provided, drives variable connector, forms multi-channel control circuit 05;Using variable connector, maximum resistance control circuit 06 is formed；Wake-up circuit 07 receives the feedback information of motor spool 01, and connect power control switch 28 by comparator connects with power supply 4.

Physical circuit is as shown in Figure 3, wherein, digital signal generator 03 selects end 10, counter direction to control 1 comparator output terminal 12, target bit digital input 13 and constituted with digital display 14 by oscillator 5, counter 6, decoder 7, comparator 8, oscillator frequency adjustable side 9, counter；Wherein oscillator frequency adjustable side 9 controls the movement velocity of the linear stepping motor, the data signal for representing target position is inputted to target bit digital input 13, the numeral that counter 6 is exported, after comparing through comparator 8, export to the direction controlling end of counter 6, control the traffic direction of linear stepping motor, digital display 14 shows the target position and real position of linear stepping motor respectively, the output end connecting valve circuit of decoder 7, each part of the digital signal generator is connected with power supply 4.

Voltage control circuit 04 is made up of voltage comparator 16, counter 17, D/A converter 18, the electric comparator coil 1 of J1 comparators 16 extracts the output end voltage of an electrode 15 and D/A converter 18 out, the result of ratio, for the counting direction of control counter 17, the low level feeding D/A converters 18 of the output end of counter 17, driving voltage is provided for the emitter stage of on-off circuit.

Voltage comparator 16, it is made up of two voltage comparators, it is respectively intended to the change up and down for monitoring the voltage of coil 1, wherein a voltage comparator of monitoring voltage lower limit, the external resistance of input, making the reference voltage of two voltage comparators has certain difference, output end connects a reverser, when voltage exceedes the upper limit or lower voltage limit, corresponding signal is exported, with the counting direction of control counter 17；In voltage control electricity, the high-order feeding decoder 19 of counter 17 sends into multi-channel control circuit 05 and maximum resistance control circuit 06 after decoding.

Maximum resistance controls circuit 06 by selecting end 24, maximum resistance output end 25 to constitute with gate circuit and maximum resistance, utilize the power of digital controlled linear stepper motor, select a certain pole in maximum resistance selection end 24, when the load of motor reaches that this is extremely other, output end 25 or alarm or the other functions of unlatching.

' multi-channel control circuit 05 by selecting end 22, output end 23 to constitute with gate circuit, diode and function, when some port of 19 dozens of Jian output ends 23 of decoder, the whole opening simultaneously in other ports of its low level, The all cut-offs of a high position above.

A voltage comparator 26 is set in wake-up circuit, extract an electrode 15 on the motor coil 1 out, it is connected on voltage comparator 26, the reference voltage level of voltage comparator 26 is set to zero, become zero-crossing detector, output end is 27 when the linear stepping motor is powered off, the magnetic cylinder mover 2 of the motor coil is promoted by external force, mobile spool cutting magnetic line, produce induced current, this electric current is drawn with electrode 15, go out, the control Jian for sending into the connection power supply 4 of output end 27 of the voltage comparator of voltage comparator 26 closes 28, the power switch of the linear stepping motor beats Jian.

^;As shown in figure 4, a kind of composition of the motor spool of the linear stepping motor with specific function, wherein：Stator is made up of thin slice line coil, and the thin slice line coil is divided to two parts coil 29,30 above and below two sections of coilings, formation, and centre one switching tube 33 of connection is connected, and switching tube 33 switchs triode from one；Set a magnetic cylinder 32 as mover in motor spool, the electrode 35 on thin slice line coil is connected with a digital driver circuitry, the switch control terminal 34 of coils is installed on the pipe 33 of Jian passes, is used as the selection end of the coil.Its application example is shown in embodiment one.

Such as Fig. 5, shown in Fig. 6, the special processing equipment of the thin slice line coil of the present invention is a coil rolling equipment, by the wire of cylinder after the rolling equipment rolling, it is configured to a flat conductive wire, the equipment is made up of a fixed support and drive device, wherein, fixed support is by chassis 36, pole 37, pressing plate 38, drive 39, rotating shaft 40, axle sleeve 41, cone-shaped roll 42, annular flake line 43, baffle fixing 44, charging hole 45, feeding regulating device 46, baffle plate 47, connecting rod 48, fastening screw 49 is constituted.

Affixed pole 37 on chassis 36, pressing plate 38 is provided with two pieces of top boards 38, lower platens 38 ', wherein lower platen 38 ' and the top of pole 37 is affixed, an axle sleeve 41 is fixedly mounted thereon, axle sleeve 41 above for top board 38, upper piece be fixedly connected by the connecting rod 48 of fastening screw 49 and coil size adjusting means;A rotating shaft 40 is equipped with axle sleeve 41, one end of rotating shaft 40 is provided with two cone-shaped rolls being oppositely arranged 42, ' the other end is provided with a drive 39, drive 39 is provided with charging hole 45, feeding regulating device 46 and the fixing device 44 of baffle plate 47 with being connected in the middle of cone-shaped roll 42 with drive device on cone-shaped roll 42;Baffle plate 47 is respectively fixed with the both sides of two cone-shaped rolls 42, the helical form annular flake line 43 shut out is not returned to using baffle plate 47 and is gone between cone-shaped roll 42, with the position of the controllable register 47 of baffle fixing 44.

Wire 50 is located at outside the device, wire 50 passes through the charging hole 45 that is set on feeding regulating device 46, into between two cone-shaped rolls 42, it is rolled into continuous helical form annular flake line 43, wherein, the regulation wire of feeding regulating device 46 enters the position of roller, the size of the diameter of control helical form annular flake line 43；They are bonded flakiness line coil 1 by the helical form annular flake line 43 shut out by the roll milling apparatus with insulating materials again. The position that wire 50 enters roller, the size of the diameter of control helical form annular flake line 43 are adjusted with feeding regulating device 46.They are bonded into the coil 1 in coil, such as Fig. 1 by the thin line 43 of continuous helical form annular shut out by coil processing machine with insulating materials again.

The cone angle of cone-shaped roll 42 is more big more easily to shut out thin rounded flakes coil, but the coil shut out can be returned to the centre of two rolls and gone, and can also be deformed even if the thin rounded flakes coil shut out plus baffle plate 47.The cone angle of cone-shaped roll 42 is smaller to be less susceptible to shut out thin slice line.Therefore, effect is preferable between the cone angle of cone-shaped roll 42 of the present invention is set to 30-90 °.

In actual applications, it is possible to use two numerical control linear stepping motors are combined into one, an automatic balance control system is constituted.Specifically, be counter 17 in two numerical control linear stepping motor circuits dynamics signal output part 20 between, separately add a comparator, result of the comparison, the counting direction control end 11 of two counters 17 of feeding makes the number formulary control linear stepping motor being under pressure be moved in face of Impact direction, by a side of pressure upholds.The side of under tension one shrinks.When two numerical control linear stepping motors " stress it is equal in magnitude when, comparator sends zero signal, and balance control terminates.

Another application is a kind of motor dynamics synchronous control system.It can be used in mimic biology body, the interaction relation for size of being exerted oneself between muscle, when two numerical control linear stepping motors need synchronous interaction relation, the data output end 20 of the counter number 17 in a numerical control linear stepping motor drive circuit, the counter number in digital controlled linear stepper motor driving circuit is connected to（17) data input pin 21, makes itself and another data syn-chronization of digital controlled linear stepper motor data input pin 20 change irregularly, and the size of motor, how much can have the poor another masters one of numerical control linear stepping motor one of ^ two from from main transformer.This function is the connection realization by the interface of drive circuit, when capturing article used in robot, the relation of arm muscles and finger muscles;It is also used between the room for manoeuvre of robot and foot muscles.

Circuit part described above, is not unique, in actual applications, can also reach different application targets, such as by the various combination mode with single-chip microcomputer：When or else considering the aspect of dynamics and motor linkage, switching circuit portion is directly driven with single-chip microcomputer, voltage control circuit part is replaced by power supply, circuit, multi-channel control circuit, maximum resistance limitation supervisory circuit occur for cancelling signal, make the overall easier of motor, its scope of application can be increased.

' the linear stepping motor that is made of thin slice line coil processed using technical scheme, because of its excellent properties, its application widely, suitably manufactures miniaturization, the linear stepping motor of Digital Circuit Control and the specific function with selecting switch.It is applied to be described further below by way of specific embodiment.

Embodiment one

Digital controlled linear stepper motor with specific function, with motor displaying devices. , using the compact conformation of thin slice line coil, easily miniaturization, Digital Circuit Control, the easy adhesive electrode in surface, the advantage for easily installing control pole additional, motor displaying devices are made with it.

Specifically method is：Utilize surface film generation technique（Such as：Radio frequency splashes the technology of setting）On the motor coil surface of the present invention, make row's thin film diode, made between two parts coil up and down or paste triode, formed the switch control terminal of motor, column scan signal line is connected on thin film diode, control end connection line scan signals line is closed in the Jian of motor, the coil of row, column signal wire and motor is bonded into display board, changes the color of pixel with the motion of linear stepping motor of the present invention, to realize the purpose of display image.

Coil be divided into above and below two parts, the digital controlled linear stepper motor with specific function is made in the coil of middle sandwiched one switch triode, and the switch control terminal set outside switch triode is the selection end of the coil.The digital controlled linear stepper motor of this device may also be used for controlling each pipe valve of large-scale fountain, and the height for noting injection with water preferably shows the rhythm of music.

Embodiment two

Application of the digital controlled linear stepper motor in terms of robot technology

Robot technology is the mark of industrial development process, as mark it is because advanced electronic technology, advanced manufacturing technology, advanced device can be put to good use and examined herein using it, digital controlled linear stepper motor is used as new electromechanical device, whether it has the advance that other devices do not have, and also to examine herein.The following is digital controlled linear stepper motor, in several particular aspects of robot technology, the superiority shown.

1) muscle is done with the digital controlled linear stepper motor of the present invention, the limb motion with mobile robot.Below by taking walking as an example, the muscle of robot is made in introduction of digital controlled linear stepper motor, and the process of emulated robot limb motion is controlled with single-chip microcomputer.

In actual applications, signal circuit section in motor-drive circuit can be replaced with single-chip microcomputer.Such as：Distributor 7 is connected using the I/O interfaces of 80C51 single-chip microcomputers or is directly connected with on-off circuit, by writing MCU driving program, single-chip microcomputer is exported count signal or shift signal." muscle " of robot is made of linear stepping motor, each digital controlled linear stepper motor, such as, in robot ambulation, " muscle " is stretched during He Shou Shrink, the numeral corresponding with amplitude peak, it is used as target position, it is incorporated into program, it is successively subtracted or is increased, be alternately produced.Another single-chip microcomputer is used, by the control to the SCM program opening time, makes motor relevant with walking on machine human body, the coordinated movement of various economic factors.The output end 25 plus a reverser of supervisory circuit can be limited in maximum resistance, the interruption control end of single-chip microcomputer is connected to, can stop automatically when being met obstructions for robot Lee.

If in above process, met obstructions, just by multi-channel control circuit, stand-by motor is opened to complete task, or circuit is controlled by maximum resistance, sends interrupt signal. 2) motion, static automatic balance control system

Below using the leg and pin of robot as row, emulated robot is introduced under motion or inactive state, keeps the principle of balance.

' emulated robot when standing, according to thinking the standing program that single-chip microcomputer is provided, on leg and pin each piece " muscle "（Digital controlled linear stepper motor）Shen Shrink states, are all a fixed numerals, and each position " muscle " uniform force, the weight of body is concentrated on bone, and " muscle " keeps this posture with minimum power consumption.When the external force being subject to is smaller, discontinuity is felt at first is " pin ", and " muscle " in underfooting face is pulled, " muscle " Voltage Automatic Control System and multi-channel control circuit start, resists external force.External force is increased, and leg " muscle " is pulled, the Voltage Automatic Control System and multi-channel control circuit start of this part.When external force reaches some strength, balance control system is on by multi-channel control circuit, body opposite direction is tilted.When external force arrives a certain critical point greatly, " muscle " limits supervisory circuit by maximum resistance, and interrupt signal is sent to single-chip microcomputer.Simultaneously can also to higher level control（Can be that a single-chip microcomputer can also be a PC）The direction that System Reports are toppled over, provides whether the direction toppled over has object to be supported with arm or pin using vision system.Control system starts corresponding motor program according to above- mentioned information.Such as：Made a stretch of the arm to the direction toppled over etc., to control balance.

Emulated robot is in the process of walking, similar when the method for control balance and standing：Control system determines the direction that next step is stopped over according to the position of foot's stress.When a certain step, during the discontinuity of underfooting, first start the voltage control system and multi-channel control circuit of " muscle ", resist external force, when the degree of side stress is to during some critical point, namely the body run-off the straight of robot when, the directional information of stress is fed back to control system by " muscle " by multi-channel control circuit, the dynamics information that control system is come up according to feedback, start corresponding muscle, select suitable target position, adjust the direction of stopping over of next step.Thus accomplish, robot automatically controls the purpose of balance during exercise.

3) prudent thing automatic balance control system

In mankind's activity, also a kind of poised state exactly holds weight balance.This gravity is generally from upper body, and it is on the basis of dynamic and static balance, and the distortion for adding waist reaches balance.

The method that this balance is reached with robot is also such.When gravity makes body both sides, when controlling " muscle " discontinuity of " backbone " activity, be under pressure big " muscle ", automatically adjusted by voltage control circuit, multi-channel control circuit, resist external force, if external force continues to increase body by disequilibrium, this is by two dynamics signal output parts（20) on, a comparator, result of the comparison are connected, it is divided into two output ends, " muscle " of the big side of a feeding stress extracts and performs stretching, extension driver, the big side " muscle " of stress is set to be moved in face of Impact direction, " muscle " is upheld.Another output end is sent to the side's of under tension one, opens and stretches driver, and the side of under tension one shrinks.When two digital controlled linears Stepper motor " by power it is equal in magnitude when, the signal that comparator is sent, balance control terminate, program determination.This balance can also occur in leg, or between two legs.

4) dynamics synchronous control system

The motion process for completing a certain item work with hand includes：The motion of arm, the rotation of wrist and the motion of finger.The motion of arm, can control the distance between hand and body；The rotation of wrist, controls the direction of palm；The motion of finger, realization is grabbed, taken, pinching, and waits various actions.Sometimes the dynamics of finger movement, dynamics with arm be it is synchronous, that is, arm lift weight using certain dynamics, finger catches weight with corresponding dynamics, here it is egg will not be grabbed broken by we when grabbing egg, one of the reason for will not being slipped out of the hand again when grabbing iron block.

Emulated robot, passes through voltage synchronous control system, it is possible to imitate above-mentioned action.When two numerical control linear stepping motors need synchronous interaction relation, the counter number device in the drive circuit of one " muscle "（17) data output end（20) data input pin for the counter number (17), being connected in another " muscle " drive circuit（21), change the dynamics data syn-chronization of two " muscle ".When capturing article, " muscle " drives arm motion with minimum power consumption, the power of finger is greater than the power used in arm, also t is the driving voltage for controlling finger motion, with controlling the motion driving voltage of arm to be adjusted in synchronism, and keep capturing the power of article, be appropriate be more than power used during arm lifting object.This can just solve robot and egg is grabbed Similar Problems that are broken, can not grabbing shot.When putting down article, similarly, when arm loses load, finger can open.

Connection between ' two " muscle " counter number can use variable connector to realize, it is necessary to which when " muscle " dynamics is synchronous, opening is achieved that.

Skeletal muscle is a complicated system, it is the executor of ideology, it can control the body of human or animal to complete various graceful or complicated actions, now, " muscle " of robot has, but existing technological meanses are used, control numerous " muscle " still to have certain difficulty, but it is not impossible.Using the method for pyramid structure gradual control, it is possible to realize.

Commercial Application

Due to the highdensity monolayer alignment of thin slice line coil, make a layer line circle that just there is the thickness of lattice coil, it is used as the magnet exciting coil of digital controlled linear stepper motor, enough magnetic field intensities can be produced, suitably in surface mount electrode, multiple electrodes can also be pasted in each circle, be easy to be connected with circuit.This coil have it is very strong from branch ' support force, support frame can be saved, space is saved.Due to foretelling at interior sunset for each circle thin slice line all insertion coils, so the heat for being easy to produce coil inside is conducted.This structure can also be minimized the voltage between adjacent windings, can reduce because short circuit is to the damage caused by coil, insulating materials can also be debased the standard.The digital controlled linear stepper motor manufactured using the coil, powered electrode is converted using digital circuit, to promote the mover in spool to move, and it does not have gear, without axle, the small, Digital Circuit Control of friction, target Position is clear and definite, reaction speed is fast, the speed of service can arbitrarily change, and uses it as " muscle " of robot, can make robot movable freely, movement velocity can surmount the mankind.Digital controlled linear stepper motor is widely used, and it can replace some mechanical for being used to move between 2 points, such as oil pressure or hydraulic component.Using the loop construction it is simple the characteristics of, it is possible to produce micro- shape motor and microgenerator, the speed of service can arbitrarily change, and its is widely used, be particularly suitable for using in special technique field, can industrialized production, beneficial to popularization and application.

Claims (1)

1. Claims

   1st, a kind of coil, it is made up of wire, it is characterised in that：The wire is flat conductive wire, and spiral is coiled into a thin slice line coil to its flat conductive wire in one direction（1) insulating barrier, is provided between the sheet face of the flat conductive wire and flat conductive wire, and is closely connected；The thin slice line coil（If 1) surface is provided with thousand electrodes.

   2nd, coil according to claim 1, it is characterised in that：The electrode and the thin slice line coil（1) connection is pastes, and the stickup of the electrode is the thin slice line coil（1) at least one or a few are often enclosed.

   .3, coil according to claim 1 or 2, it is characterised in that：The thin slice line coil（1) divide two sections be coiled into above and below two parts（29th, 30), centre is by a switching tube（33) connect.

   4th, a kind of linear stepping motor, it includes a stator and a magnetic cylinder mover（2) the motor spool of composition（And power supply 01)（4), it is characterised in that：The coil that the stator is coiled into by wire is constituted, and the wire is flat conductive wire, and spiral is coiled into a thin slice line coil to its flat conductive wire in one direction（1) insulating barrier, is provided between the sheet face of the flat conductive wire and flat conductive wire, and is closely connected；The thin slice line coil（1) surface is provided with several electrodes.

   5th, coil according to claim 4, it is characterised in that：The electrode and the thin slice line coil（1) surface is stickup, the stickup of the electrode is the thin slice line coil（1) at least one or a few are often enclosed.

   6th, coil according to claim 5, it is characterised in that：The thin slice line coil（1) divide two sections be coiled into above and below two parts（29th, 30), centre is by a switching tube（33) connect；The magnetic cylinder mover（2) length is the thin slice line coil（1) 1/3-2/3 of length.

   7th, the linear stepping motor according to claim 4 or 5 or 6, it is characterised in that：The motor spool（01) with the power supply（4) connection has a digital driver circuitry between.

   8th, the linear stepping motor according to claim, it is characterised in that：The digital driver circuitry is by digital signal generator（03), on-off circuit（02), voltage control circuit（04), multi-channel control circuit（05), maximum resistance control circuit（06), wake-up circuit（07) constitute；Wherein, digital signal generator（03) the data signal driving switch circuit produced（02), on-off circuit（02) it is connected to voltage control circuit（04) with the motor spool（01) between, voltage control circuit（04) the motor spool is utilized（01) feedack, adjustment is applied to the motor spool（01) voltage on；Voltage control circuit（04) counter set in（17) output digit signals, drive variable connector, form multi-channel control circuit（05);Connected again through some with gate circuit, form maximum resistance control circuit（06);It is described Wake-up circuit（07) input and voltage control circuit（04) connect, receive by the motor spool（01) voltage control circuit is sent into（04) feedback information, passes through wake-up circuit（07) switch on power（4).

   9th, the linear stepping motor according to claims 8, it is characterised in that：A voltage comparator is set in the wake-up circuit (07)（26), the motor spool（01) electrode is extracted on out（15), with voltage comparator（26) connect, voltage comparator（26) reference voltage level built in is set to zero, voltage comparator output end（27) when the linear stepping motor is powered off, the motor spool（01) the magnetic cylinder mover in（2) promoted by external force, in its motor spool 01) in move, cutting magnetic line produce induced current, electrode（15) induced current is drawn, sends into voltage comparator（26), voltage comparator output end（27) controlling switch is connected（28) turn-on power（4).

   10th, a kind of automatic-balancing system, it is characterised in that：It includes the digital comparator connected between linear stepping motor and two linear stepping motors described in two any one of claim 39, the digital comparator and the voltage control circuit set in the linear stepping motor（04) counter in（17) data output end（20) connect, the digital comparator sends positive and negative or 03 kinds of signals, by the different port of the digital driver circuitry of the linear stepping motor, control the running status of the linear stepping motor.

   A kind of synchronous drive devices of 1K, it is characterised in that：It is made up of the linear stepping motor described at least two claim any one of 3-9, wherein, the counter set in the voltage control circuit (04) of a linear stepping motor（17) data output end（20) with the voltage control circuit of another linear stepping motor（04) counter set in（17) data input pin（21) connect, pass through the synchronous conversion of data driving synchronous with interaction formation.

   12nd, the rolling equipment of any one of a kind of claim 1-11 coils, it includes drive device, it is characterised in that：

   It is additionally provided with：

   One chassis（36) pole, is connected with thereon（37);

   About one accompanies pressing plate（38th, 38') axle sleeve（41) with the pole（37) top is affixed；, the connecting rod of a coil size adjusting means（48) it is located at the top board（38) top；One rotating shaft（40) it is arranged in the axle sleeve（41) in, the rotating shaft（40) one end and two cone-shaped rolls being oppositely arranged（42) connect, the other end and a drive（39) connect, the drive device respectively with the cone-shaped roll（42) with the drive（39) connect；

   One carries charging hole（45) feeding regulating device（And baffle fixing 46)（44) it is fixedly installed in the cone-shaped roll（42) upper end；The baffle fixing（44) on the downside of and positioned at the cone-shaped roll（42) both sides are respectively fixed with baffle plate（47)_;

   The wire by a peripheral hardware lead frame（50) draw, pass through the charging hole（45) enter described Bore roll（42) in, the flat conductive wire is turned into through its rolling.

   13rd, roll milling apparatus according to claim 9, it is characterised in that：The cone-shaped roll（42) cone angle is 30-90 °.