CN1906830B - Coil, its application and dedicated device for making coil - Google Patents
Coil, its application and dedicated device for making coil Download PDFInfo
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- CN1906830B CN1906830B CN2005800016719A CN200580001671A CN1906830B CN 1906830 B CN1906830 B CN 1906830B CN 2005800016719 A CN2005800016719 A CN 2005800016719A CN 200580001671 A CN200580001671 A CN 200580001671A CN 1906830 B CN1906830 B CN 1906830B
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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
Technical field
The present invention relates to the special equipment of a kind of coil and application thereof and preparation coil, specifically is the application such as linear stepping motor that utilize a kind of spool that twines through the coil of processing to form, and the special equipment for preparing this coil.
Background technology
The limb motion of robot and the control of manipulator motion now is to realize by air pressure or hydraulic system, because of its systematic comparison huge, complicated, the dynamics during unsuitable controlled motion and the variation of speed; For addressing these problems, 0181903.3 patent of invention technology application number has appearred is, it is the stepping motor that adopts rotation, realize by change-speed gearing robot limbs joint stretch in the wrong, though problems such as big are doted on by the system that solved, but still exist the motion of robot dumb, and be difficult to realize the defective of velocity variations on a large scale simultaneously, only can finish some specific functions; Application number is that 02100723.3 patent of invention discloses a kind of permanent magnetic simple stepper moter, in order to obtain between magnetic mover and the spool trace movement accurately, also be convenient to paste on the coil electrode, spool must be twined by single layer coil, pass through coil electricity, the mobile in coil cutting magnetic field of stator and the induced current that produces, realize the flexible motion of stepping motor, yet because coil is the individual layer spool that is formed by traditional circular enamelled wire coiling, the number of turns of twining on unit length is limited, the density of coil is little, the magnetic field intensity that produces is little, defines the scope of application of this stepping motor, and the superior function of stepping motor can't be embodied.
Disclosure of the Invention
In order to solve the above-mentioned defective that exists in the prior art, the purpose of this invention is to provide a kind of coil of monolayer alignment that can make and satisfy the density height, can produce that the extraordinary coil of the electromagnetic field of sufficient intensity, linear stepping motor, this coil that this coil constitutes connect with a digital control circuit and the linear stepping motor that constitutes, and use, also provide a kind of special equipment for preparing coil of the present invention simultaneously in order to realize purpose of the present invention.
To achieve these goals, the present invention adopts following technical scheme: a kind of coil, it is made by lead, its characteristics are: described lead is a flat conductive wire, its flat conductive wire is along a direction spiral coiled one thin slice line coil, be provided with insulating barrier between the sheet face of described flat conductive wire and flat conductive wire, and closely connect; Described thin slice line coil surface is provided with several electrodes.
Above-mentioned electrode and thin slice line coil surface are for pasting, and it is one or more that the stickup of electrode is positioned at the every circle of thin slice line coil, also can a few paste one at interval;
Above-mentioned thin slice line coil can also divide two sections coileds two parts up and down, and the centre is connected by a switching tube.
Second purpose of the present invention provides a kind of linear stepping motor, it comprises motor spool and the power supply that a stator and a magnetic cylinder mover are formed, its characteristics are: stator is made of the coil of lead coiled, described lead is a flat conductive wire, its flat conductive wire is along a direction spiral coiled one thin slice line coil, be provided with insulating barrier between the sheet face of described flat conductive wire and flat conductive wire, and closely connect; Described thin slice line coil surface is provided with several electrodes.
Above-mentioned electrode and described thin slice line coil surface be for pasting,, the stickup of described electrode is at least one or a few of the every circle of described thin slice line coil.
Above-mentioned thin slice line coil divides two sections coileds two parts up and down, and the centre is connected by a switching tube; The length of described magnetic cylinder mover is the 1/3-2/3 of described thin slice line loop length.
Between above-mentioned motor spool and power supply, connect a digital drive circuit, constitute a digital controlled linear stepping motor.
Above-mentioned digital drive circuit is made up of digital signal generator, switching circuit, voltage control circuit, multichannel control circuit, maximum resistance control circuit, wake-up circuit; Wherein, the digital signal driving switch circuit that digital signal generator produces, switching circuit is connected between voltage control circuit and the described motor spool, and voltage control circuit utilizes described motor spool feedack, adjusts the voltage that is applied on this motor spool; The counter output digital signal of establishing in the voltage control circuit drives variable connector, forms the multichannel control circuit; Be communicated with through some AND circuit again, form the maximum resistance control circuit; The wake-up circuit input is connected with voltage control circuit, receives the feedback information of being sent into voltage control circuit by the motor spool, by wake-up circuit and power connection.
Establish a voltage comparator in the above-mentioned wake-up circuit, extract an electrode on the described motor spool out, be connected with voltage comparator, the built-in reference voltage level of voltage comparator is made as zero, constitute a zero-crossing detector, when the voltage comparator output cuts off the power supply at described linear stepping motor, magnetic cylinder mover in the described motor spool is promoted by external force, in its motor spool, move, cutting magnetic line produces induced current, electrode is drawn described induced current, sends into voltage comparator, and the voltage comparator output is communicated with the control switch turn-on power.
The 3rd purpose of the present invention is the application that discloses above-mentioned linear stepping motor.
One: a kind of automatic-balancing system, its characteristics are: it comprises two above-mentioned digital controlled linear stepping motors and is located in two digital comparators between the numerical control linear stepping motor, the counter output of establishing in the voltage control circuit of establishing in this digital comparator and the digital controlled linear stepping motor is connected, send positive and negative or 03 kinds of signals through digital comparator, pass through the different port of the digital drive circuit of this linear stepping motor again, control the running status of this linear stepping motor.
Its two: a kind of synchronous drive device, its characteristics are: it is made up of at least two above-mentioned digital controlled linear stepping motors, wherein, the counter data input of establishing in the counter data output of establishing in the voltage control circuit of a numerical control linear stepping motor and the voltage control circuit of another digital controlled linear stepping motor is connected, and the interaction by data forms driven in synchronism.
The 4th purpose of the present invention is to disclose a kind of special equipment for preparing coil of the present invention, specifically is a kind of rolling equipment of thin slice line coil, and it includes drive unit, and its characteristics are: it also is provided with:
One chassis is connected with a pole on it; One to accompany the axle sleeve and the described pole top of pressing plate up and down affixed;
The connecting rod of one coil size adjusting device is positioned at the top of described top board;
One rotating shaft is arranged in the described axle sleeve, and an end of described rotating shaft is connected with two cone-shaped rolls that are oppositely arranged, and the other end is connected with a drive, and described drive unit joins with described cone-shaped roll and described drive respectively;
One charging adjusting device and the baffle fixing that has charging hole is fixedly installed in the cone-shaped roll upper end; Baffle fixing downside and be positioned at the cone-shaped roll both sides and be fixed with baffle plate respectively;
Described lead is drawn by the lead frame of a peripheral hardware, enters in the cone-shaped roll by charging hole, becomes described flat conductive wire through its rolling.
The cone angle of above-mentioned cone-shaped roll is 30-90 °.
Technical scheme disclosed by the invention, particularly by the digital controlled linear stepping motor that constitutes of thin slice line coil through processing, possess its in vivo, the total movement and the perceptional function of skeletal muscle, can be widely used in robot field's the Based Intelligent Control.
Design principle of the present invention is based on the analysis to organism, the skeletal muscle of organism is the muscle that drives skeleton motion. suppose a kind of organ in the skeletal muscle, be referred to as proprioceptor, they are called " muscle-spindle " and " tendon spindle " respectively. and " muscle-spindle " is a kind of length receptor, provide feedback to the residing flexible state information of muscle. " tendon spindle " is a kind of baroreceptor, the information relevant with tension change with the resting tension of muscle itself can be provided. their interactional relations are: when muscle is subjected to tractive, at first excited " muscle-spindle ", cause reflex activity, cause being subjected to the contraction of muscle of tractive with the antagonism tractive, when the strength of tractive further strengthens, then can excited " tendon spindle ", suppress this contraction of muscle, with the muscle damage of avoiding being pulled.
In the digital controlled linear stepping motor, the mover of motor is when being subjected to the external force tractive, and the voltage of motor coil changes, the comparator in the voltage control circuit, find this variation after, improve the driving voltage of motor, to the tractive of external force resistance.If external force continues to increase, the low level of counter overflows in the voltage control circuit, and the high-order decoder that passes through is opened the multichannel control circuit, or maximum resistance restriction supervisory circuit, resists bigger external force.This part circuit possesses the function of " muscle-spindle ".
The maximum resistance control circuit can be set digital controlled linear stepping motor or one group of maximum external force that motor can be resisted, and when surpassing, the counter motion of digital controlled linear stepping motor, or the function of opening other are avoided damaging motor because of excessive external force.This partial circuit possesses the function of " tendon spindle ".
After the present invention adopted above technical scheme, its advantage was as follows:
Because the highdensity monolayer alignment of thin slice line coil, make one deck coil just have the thickness of lattice coil, as the magnet exciting coil of digital controlled linear stepping motor, can produce enough magnetic field intensitys, suit to paste electrode, also can paste a plurality of electrodes, be convenient to be connected with circuit at each circle on the surface.This coil has very strong self-supporting power, can save support frame, saves the space.Since each circle thin slice line all connect coil inside and outside, so be easy to the heat that coil inside produces is conducted.This structure can also make the voltage between the adjacent windings reduce to minimum, can reduce the damage that causes to coil because of short circuit, also can debase the standard to insulating material.The digital controlled linear stepping motor that uses this coil to make, utilize digital circuit conversion powered electrode, promote the mover motion in the spool, it does not have gear, do not have axle, friction is little, Digital Circuit Control, but target bit is clear and definite, reaction speed is fast, speed of service random variation, with its " muscle " as robot, can make robot movable freely, movement velocity can surmount the mankind.The digital controlled linear stepping motor is of many uses, and it can replace being used for the part machinery of motion between 2, such as oil pressure or hydraulic component.Utilize this loop construction characteristic of simple, can produce little shape motor and microgenerator, be used for the special technique field.
Description of drawings
Fig. 1 is for after being stained with electrode by thin slice line coil, the shape schematic diagram of the linear stepping motor of forming with the magnetic cylinder mover;
Fig. 2 is the calcspar of digital controlled linear stepper motor driving circuit;
Fig. 3 is the physical circuit connection layout of Fig. 2;
The electronic spool cross-sectional view that Fig. 4 forms for special tectonic;
Fig. 5 is the structural representation of coil rolling equipment;
Fig. 6 is the vertical view of Fig. 5.
The best mode that carries out an invention
Below by accompanying drawing the utility model best mode is described further
The present invention will be described in detail below in conjunction with accompanying drawing.
As shown in Figure 1, thin slice line coil 1 of the present invention is closely arranged by the length direction of flat conductive wire extensions circle, forms with insulating material is bonding with the big flat horizontal surface of area between a circle flat conductive wire and next circle flat conductive wire.This coil surface is pasted with the electrode 3 that several and drive circuit join, and electrode 3 can be pasted on every circle, also can paste by spacer ring; The flat conductive wire of each circle can be pasted an electrode 3, also can paste a plurality of electrodes 3.
The length of magnetic cylinder mover 2 can be provided with as required, and generally to guarantee that the magnetic cylinder mover normally moves in coil, the length that is no more than coil is advisable.
The thin slice line coil 1 that is pasted with electrode 3 is oppositely arranged with magnetic cylinder mover 2, forms the motor spool of a straight line stepping motor.
As shown in Figure 2, between motor spool 01 and power supply 4, connect a digital control circuit, constitute a digital controlled linear stepping motor.This digital control circuit is made up of digital signal generator 03, switching circuit 02, voltage control circuit 04, multichannel control circuit 05, maximum resistance control circuit 06, wake-up circuit 07; Wherein, the digital signal driving switch circuit 02 that digital signal generator 03 produces, switching circuit 02 is connected between voltage control circuit 04 and the described motor spool 01, voltage control circuit 04 utilizes motor spool 01 feedack of being made up of thin slice line coil 2 that is stained with electrode 3 and magnetic cylinder mover 1, adjusts the voltage that is applied on this motor spool 01; The digital signal that counter in the voltage control circuit 04 provides drives variable connector, forms multichannel control circuit 05; Utilize variable connector, form maximum resistance control circuit 06; Wake-up circuit 07 receives the feedback information of motor spool 01, connects power control switch 28 by comparator and is communicated with power supply 4.
Physical circuit as shown in Figure 3, wherein, digital signal generator 03 is made up of with digital display 14 oscillator 5, counter 6, decoder 7, comparator 8, oscillator frequency adjustable side 9, counter selecting side 10, counter direction control end 11, comparator output terminal 12, target bit digital input end 13; Wherein the movement velocity of these linear stepping motors is controlled in oscillator frequency adjustable side 9, represent the digital signal of target bit to 13 inputs of target bit digital input end, the numeral of counter 6 outputs, after comparator 8 compares, export the direction control end of counter 6 to, the traffic direction of control linear stepping motor, digital display 14 shows the target bit and the reality position of linear stepping motor respectively, the output of decoder 7 connects switching circuit, and each parts of described digital signal generator all are communicated with power supply 4.
Voltage control circuit 04 is made up of voltage comparator 16, counter 17, D/A converter 18, voltage comparator 16 comparator coils 1 are extracted the output end voltage of an electrode 15 and D/A converter 18 out, result relatively, be used for the counting direction of control counter 17, the low level of counter 17 outputs is sent into D/A converter 18, for the emitter of switching circuit provides driving voltage.
Voltage comparator 16, form by two voltage comparators, it is used for monitoring the variation up and down of coil 1 voltage respectively, the monitoring voltage lower limit voltage comparator wherein, the external resistance of input makes the reference voltage of two voltage comparators that certain difference be arranged, output connects a reverser, when voltage surpasses the upper limit or lower voltage limit, export corresponding signal, with the counting direction of control counter 17; In the voltage control circuit, the high position of counter 17 is sent into decoder 19, sends into multichannel control circuit 05 and maximum resistance control circuit 06 after the decoding.
Maximum resistance control circuit 06 is made up of AND circuit and maximum resistance selecting side 24, maximum resistance output 25, utilize the power of digital controlled linear stepping motor, select a certain utmost point in the maximum resistance selecting side 24, when the load of motor reaches this when extremely other, output 25 or the function of reporting to the police or opening other.
Multichannel control circuit 05 is made up of AND circuit, diode and function selecting end 22, output 23, and when decoder 19 was opened some ports of output 23, other port of its low level was all opened simultaneously, and the high position more than it is all ended.
Establish a voltage comparator 26 in the wake-up circuit, extract an electrode 15 on the described motor coil 1 out, be connected on the voltage comparator 26, the reference voltage level of voltage comparator 26 is made as zero, make it become zero-crossing detector, output is 27 when the outage of described linear stepping motor, the magnetic cylinder mover 2 of described motor coil is promoted by external force, mobile spool cutting magnetic line, produce induced current, with electrode 15 this electric current is drawn, the output 27 of sending into voltage comparator 26 voltage comparators connects the control switch 28 of power supply 4, and the mains switch of described linear stepping motor is opened.
As shown in Figure 4, a kind of composition of motor spool of the linear stepping motor with specific function, wherein: stator is made of thin slice line coil, this thin slice line coil divides two sections coilings, form two parts coil 29,30 up and down, the middle switching tube 33 that connects connects, and switching tube 33 is selected a switch triode for use; A magnetic cylinder 32 is set as mover in the motor spool, the electrode 35 on the thin slice line coil is connected with a digital drive circuit, and the switch control end 34 of coil is installed on the switching tube 33, as the selecting side of this coil. and its application example is seen embodiment one.
As Fig. 5, shown in Figure 6, the special processing equipment of thin slice line coil of the present invention is a coil rolling equipment, after columniform this rolling equipment rolling of lead process, be configured as a flat conductive wire, this equipment is made up of a fixed support and drive unit, wherein, fixed support is made up of 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, charging adjusting device 46, baffle plate 47, connecting rod 48, holding screw 49.
Affixed pole 37 on the chassis 36, pressing plate 38 is provided with two top boards 38, lower platen 38 ', wherein lower platen 38 ' is affixed with pole 37 tops, fixed installation one axle sleeve 41 on it, be top board 38 above the axle sleeve 41, last piece is fixedly connected by the connecting rod 48 of holding screw 49 and coil size adjusting device; Be equipped with a rotating shaft 40 in the axle sleeve 41, one end of rotating shaft 40 is equipped with two cone-shaped rolls that are oppositely arranged 42, the other end is equipped with a drive 39, drive 39 links to each other with drive unit with cone-shaped roll 42 centres, and cone-shaped roll 42 is provided with charging hole 45, charging adjusting device 46 and baffle plate 47 fixtures 44; Both sides at two cone-shaped rolls 42 are fixed with baffle plate 47 respectively, utilize baffle plate 47 to make to shut out helical form annular flake line 43 do not return between the cone-shaped roll 42 and go, with the position of baffle fixing 44 controllable registers 47.
It is outside that lead 50 is positioned at this device, the charging hole 45 of lead 50 by being provided with on the charging adjusting device 46, enter between two cone-shaped rolls 42, rolled into continuous helical form annular flake line 43, wherein, charging adjusting device 46 is regulated lead and is gone into the position of roller, the size of control helical form annular flake line 43 diameters; The helical form annular flake line 43 that shuts out by this roll milling apparatus is bonded into thin slice line coil 1 with insulating material with them again.
Regulate lead 50 with charging adjusting device 46 and go into the position of roller, the size of control helical form annular flake line 43 diameters.The continuous thin line 43 of helical form annular that shuts out by the coil processing machine is bonded into coil with insulating material with them again, as the coil among Fig. 11.
The cone angle of cone-shaped roll 42 is big more to shut out the thin rounded flakes coil easily more, but the coil that shuts out can be returned the centre of two rolls, also can be out of shape even add the thin rounded flakes coil that overhead gage 47 shuts out.The cone angle of cone-shaped roll 42 is more little to be not easy to shut out the thin slice line more.Therefore, it is better that the cone angle of cone-shaped roll 42 of the present invention is set between 30-90 ° effect.
In actual applications, can utilize two numerical control linear stepping motors to be combined into one, constitute an automatic balance control system.Specifically, be between the dynamics signal output part 20 of the counter 17 in two numerical control linear stepping motor circuit, other adds a comparator, result relatively, the counting direction control end 11 of sending into two counters 17 makes a number formulary control linear stepping motor that is under pressure in face of moved by force direction, and a side who is under pressure upholds.Being subjected to pulling force one side shrinks." during stressed equal and opposite in direction, comparator sends zero signal, and Balance Control finishes when two numerical control linear stepping motors.
Another kind is applied as a kind of motor dynamics synchronous control system.It can be used in the mimic biology body, the interaction relation of the size of exerting oneself between the muscle, when two numerical control linear stepping motors need synchronous interaction to concern, the data output end 20 of the counter several 17 in the numerical control linear stepping motor drive circuit, be connected the data input pin 21 of the counter number (17) in the digital controlled linear stepper motor driving circuit, itself and another digital controlled linear stepping motor data input pin 20 data sync are changed irregularly, the size of motor, what can have difference, one of master of two numerical control linear stepping motors from, from main transformer.This function is to lean on the connection of interface between the drive circuit to realize, when being used in robot gripping's article, and the relation of arm muscle and finger muscles; Also be used between the room for manoeuvre and foot muscles of robot.
The above circuit part of Jie Shaoing, not unique, in actual applications, also can by with the various combination mode of single-chip microcomputer, reach different application targets, such as: when or else considering the aspect of dynamics and motor linkage, with the direct driving switch circuit part of single-chip microcomputer, the voltage control circuit part is replaced by power supply, cancelling signal generation circuit, multichannel control circuit, maximum resistance restriction supervisory circuit, make the integral body of motor easier, can increase its scope of application.
The linear stepping motor that the thin slice line coil that adopts technical scheme of the present invention to process is made, because of the excellent properties that it had, its range of application is very extensive, the suitable linear stepping motor of making microminiaturization, Digital Circuit Control and having the specific function of selector switch.Below by specific embodiment its application is described further.
Embodiment one
Have the digital controlled linear stepping motor of specific function, be used on the motor display.
Utilize compact conformation, easily microminiaturization, Digital Circuit Control, the surface of thin slice line coil easily to paste electrode, easily install the advantage of controlling the utmost point additional, make the motor display with it.
Concrete method is: utilize surface film generation technique (as: radio frequency spatters the technology of establishing), on motor coil of the present invention surface, make row's thin film diode, making between two parts coil up and down or the stickup triode, form the switch control end of motor, on thin film diode, connect the column scan signal line, switch control end at motor connects the line scan signals line, the coil of row, column holding wire and motor is bonded into display panel, motion with linear stepping motor of the present invention changes color of pixel, realizes the purpose of display image.
Coil is divided into up and down two parts, and therebetween is established the coil of a switch triode and is made the digital controlled linear stepping motor with specific function, is the selecting side of this coil at the switch control end of switch triode outer setting.The digital controlled linear stepping motor of this device also can be used for controlling each pipe valve of large-scale fountain, and water is annotated the rhythm that the height that sprays better shows music.
Embodiment two
The application of digital controlled linear stepping motor aspect Robotics
Robotics is the sign of industrial development process, as a token of is it because advanced electronic technology, advanced person's manufacturing technology, advanced person's device can here be put to good use and check, the digital controlled linear stepping motor is as new electromechanical device, whether it has the advance that other device does not have, and also will here check.Below be the digital controlled linear stepping motor, in several particular aspects of Robotics, the superiority that demonstrates.
1) does muscle with digital controlled linear stepping motor of the present invention, drive the limb motion of robot.
Be example below with the walking, introduce the muscle of making robot of the digital controlled linear stepping motor, with the process of Single-chip Controlling emulated robot limb motion.
In actual applications, can replace signal circuit section in the motor-drive circuit with single-chip microcomputer.As: the I/O interface of use 80C51 single-chip microcomputer connects distributor 7 or directly is connected with switching circuit, by writing the Micro Controller Unit (MCU) driving program, makes single-chip microcomputer output count signal or shift signal.Do " muscle " of robot with linear stepping motor, each digital controlled linear stepping motor, such as, when robot ambulation, in " muscle " stretching, extension and the contraction process, with the corresponding numeral of amplitude peak, as target bit, enroll in the program, it is subtracted one by one or increase, alternately produce.Use another single-chip microcomputer,, make motor relevant on the robot health, the coordinated movement of various economic factors with walking by to the control of Single Chip Microcomputer (SCM) program open-interval.Can add a reverser at the output 25 that maximum resistance limits supervisory circuit, be connected to the interruption controls end of single-chip microcomputer, be used for robot and when meeting obstructions, can stop automatically.
If in said process, when meeting obstructions, just, open stand-by motor and finish the work, or, send interrupt signal by the maximum resistance control circuit by the multichannel control circuit.
2) motion, static automatic balance control system
Leg and pin with robot is row below, introduces emulated robot under motion or inactive state, keeps principle for balance.
Emulated robot is when standing, according to the program of standing of thinking that single-chip microcomputer provides, the flexible state of each piece " muscle " (digital controlled linear stepping motor) on leg and the pin, it all is a fixing numeral, each position " muscle " is stressed evenly, the weight of health concentrates on the bone, and " muscle " keeps this attitude with minimum power consumption.When the external force that is subjected to hour, what feel discontinuity at first is " pin ", " muscle " of underfooting face is pulled, " muscle " voltage automatic control system and multichannel control circuit start, opposing external force.External force strengthens, and shank " muscle " is pulled, and voltage automatic control system of this part and multichannel control circuit start.When external force reaches certain intensity, open the startup balance control system by the multichannel control circuit, the health rightabout is tilted.When external force arrived a certain critical point greatly, " muscle " sent interrupt signal by maximum resistance restriction supervisory circuit to single-chip microcomputer.The direction that also can topple over to more senior control (can be that a single-chip microcomputer also can be a PC) System Reports simultaneously, whether the direction of utilizing vision system to provide to topple over has object to support with arm or pin.Control system starts corresponding motor program according to above-mentioned information.As: make a stretch of the arm or the like to the direction of toppling over, control balance.
Emulated robot in the process of walking, the method for control balance and similar when standing: control system is determined the direction that next step is stopped over according to the stressed position of foot.When a certain step, during the underfooting discontinuity, start the voltage control system and the multichannel control circuit of " muscle " earlier, opposing external force, when the stressed degree of a side reaches certain critical point, during the health run-off the straight of robot just, " muscle " feeds back to control system to stressed directional information by the multichannel control circuit, the dynamics information that control system is come up according to feedback, start corresponding muscle, select suitable target bit, adjust next step the direction of stopping over.So just accomplished that robot controls the purpose of balance at the volley automatically.
3) prudent thing automatic balance control system
In mankind's activity, also have a kind of poised state, be exactly prudent thing balance.This gravity is generally from upper body, and it adds that the distortion of waist reaches balance on the basis of dynamic and static balance.
The method that reaches this balance in robot on one's body also is like this.When gravity makes the health both sides, when controlling " muscle " discontinuity of " backbone " activity, big " muscle " is under pressure, automatically regulate by voltage control circuit, multichannel control circuit, opposing external force, if external force continues to strengthen health with disequilibrium, this is by on two dynamics signal output parts (20), connect a comparator, result relatively is divided into two outputs, " muscle " of sending into a stressed side greatly, extract and carry out and stretch driver, make a stressed big side " muscle " in face of moved by force direction, " muscle " upholds.Another output is delivered to and is subjected to pulling force one side, opens and stretches driver, is subjected to pulling force one side contraction.When two numerical control linear stepping motors " when being subjected to the equal and opposite in direction of power, the signal that comparator sends, Balance Control finishes, program stops.This balance also can occur in shank, or between two legs.
4) dynamics synchronous control system
The motion process of finishing a certain work with hand comprises: the motion of the motion of arm, the rotation of wrist and finger.The motion of arm can be controlled the distance between hand and the health; The rotation of wrist, control palm towards; The motion of finger realizes grabbing, take, pinching, and waits exercises.Sometimes the dynamics of finger movement, with the dynamics of arm be synchronous, just arm uses certain dynamics to mention weight, finger will be caught weight with corresponding dynamics, Here it is we can not grab egg when grabbing egg broken, one of the reason that can not slip out of the hand again when grabbing iron block.
Emulated robot, by the voltage synchronous control system, just can imitate above-mentioned action. when two numerical control linear stepping motors need synchronous interaction to concern, counter in the drive circuit of " muscle " is counted the data output end (20) of device (17), be connected the data input pin (21) of the counter number (17) in another " muscle " drive circuit, the dynamics data sync of two " muscle " is changed. when grasping article, " muscle " drives arm motion with minimum power consumption, the power of finger usefulness is greater than the used power of arm, just control the driving voltage of finger motion, motion driving voltage adjusted in concert with the control arm, and keep grasping the power that article are used, want suitable power used when promoting object greater than arm. this just can solve robot and egg be grabbed broken, can not grab the similar problem of shot. when putting down article, in like manner, when arm lost load, finger can open.
Connection between two " muscle " counter numbers can use variable connector to realize, needs " muscle " when dynamics is synchronous, just opens and can realize.
Skeletal muscle is the system of a complexity, it is the executor of ideology, it can be controlled human or animal's health and finish various graces or complicated action, now, " muscle " of robot has had, can be to use existing technological means, controlling numerous " muscle " still has certain degree of difficulty, but is not impossible.The method that adopts pyramid structure to control step by step just might realize.
Commercial Application
Because the highdensity monolayer alignment of thin slice line coil, make one deck coil just have the thickness of lattice coil, as the magnet exciting coil of digital controlled linear stepper motor, can produce enough magnetic field intensities, suit at surperficial adhesive electrode, also can paste a plurality of electrodes at each circle, be convenient to be connected with circuit. This coil has very strong self-supporting power, can save the support skeleton, saves the space. Since each circle thin slice line all connect coil inside and outside, so be easy to the heat that coil inside produces is conducted. This structure can also make the voltage between the adjacent windings reduce to minimum, can reduce the damage that causes to coil because of short circuit, also can debase the standard to insulating materials. The digital controlled linear stepper motor that uses this coil to make, utilize digital circuit conversion powered electrode, promote the mover motion in the spool, it does not have gear, do not have axle, friction is little, Digital Circuit Control, target bit is clear and definite, reaction speed is fast, the speed of service can arbitrarily change, with its " muscle " as robot, can make robot movable freely, movement velocity can surmount the mankind. The digital controlled linear stepper motor is of many uses, and it can replace the part machinery for motion between 2 o'clock, such as oil pressure or hydraulic component. Utilize the simple characteristics of this loop construction, can produce little shape motor and microgenerator, the speed of service can arbitrarily change, and it is of many uses, especially suit to use in the special technique field, but suitability for industrialized production benefits and applies.
Claims (13)
1. coil, it is made by lead, it is characterized in that: described lead is a flat conductive wire, described coil by described flat conductive wire along a direction spiral coiled, it is a thin slice line coil (1), described flat conductive wire is arranged along the length direction of described coil, is provided with insulating barrier between the sheet face of the flat conductive wire of adjacent turn, and closely connects; Described thin slice line coil (1) surface is provided with several electrodes.
2. coil according to claim 1 is characterized in that: described electrode and described thin slice line coil (1) be connected to stickup, the stickup of described electrode is at least one or a few of the every circle of described thin slice line coil (1).
3. coil according to claim 1 and 2 is characterized in that: described thin slice line coil (1) divides two sections coileds two parts (29,30) up and down, and the centre is connected by a switching tube (33).
4. linear stepping motor, it comprises the motor spool (01) and power supply (4) that a stator and a magnetic cylinder mover (2) are formed, it is characterized in that: described stator is made of the coil of lead coiled, described lead is a flat conductive wire, described coil along a direction spiral coiled, is a thin slice line coil (1) by described flat conductive wire, and described flat conductive wire is arranged along the length direction of described coil, be provided with insulating barrier between the sheet face of the flat conductive wire of adjacent turn, and closely connect; Described thin slice line coil (1) surface is provided with several electrodes.
5. linear stepping motor according to claim 4 is characterized in that: described electrode and described thin slice line coil (1) surface be connected to stickup, the stickup of described electrode is at least one or a few of the every circle of described thin slice line coil (1).
6. linear stepping motor according to claim 5 is characterized in that: described thin slice line coil (1) divides two sections coileds two parts (29,30) up and down, and the centre is connected by a switching tube (33); The length of described magnetic cylinder mover (2) is the 1/3-2/3 of described thin slice line coil (1) length.
7. according to claim 4 or 5 or 6 described linear stepping motors, it is characterized in that: be connected with a digital drive circuit between described motor spool (01) and the described power supply (4).
8. linear stepping motor according to claim 7 is characterized in that: described digital drive circuit is made up of digital signal generator (03), switching circuit (02), voltage control circuit (04), multichannel control circuit (05), maximum resistance control circuit (06) and wake-up circuit (07); Wherein, the digital signal driving switch circuit (02) that digital signal generator (03) produces, switching circuit (02) is connected between voltage control circuit (04) and the described motor spool (01), voltage control circuit (04) utilizes described motor spool (01) feedack, adjusts the voltage that is applied on this motor spool (01); Counter (17) the output digital signal of establishing in the voltage control circuit (04) drives variable connector, forms multichannel control circuit (05), is communicated with through some AND circuit simultaneously, forms maximum resistance control circuit (06); Described wake-up circuit (07) input is connected with voltage control circuit (04), receives the feedback information of being sent into voltage control circuit (04) by described motor spool (01), connects power control switch by an interior voltage comparator of establishing, with energized (4).
9. linear stepping motor according to claim 8, it is characterized in that: described motor spool (01) is gone up and is extracted an electrode (15) out, be connected with described voltage comparator (26), the built-in reference voltage level of described voltage comparator (26) is made as zero, and voltage comparator has output (27); When described linear stepping motor cuts off the power supply, magnetic cylinder mover (2) in the described motor spool (01) is subjected to external force to promote to move, thin slice line coil (1) cutting magnetic line produces induced current, electrode (15) is drawn described induced current, send into voltage comparator (26), voltage comparator output (27) connects the control switch (28) of power supply (4), and the control switch of power supply is opened.
10. automatic-balancing system, it is characterized in that: it comprises a digital comparator that connects between two claims 8 or 9 described linear stepping motors and two linear stepping motors, the data output end (20) of the counter (17) in the voltage control circuit of establishing in this digital comparator and described two linear stepping motors (04) is connected, described digital comparator sends positive and negative or zero-signal, the different port of the digital drive circuit by described two linear stepping motors is controlled the running status of described two linear stepping motors.
11. synchronous drive device, it is characterized in that: it is made up of two claims 8 or 9 described linear stepping motors, wherein, the data input pin (21) of the counter of establishing in the data output end (20) of the counter of establishing in the voltage control circuit of a described linear stepping motor (04) (17) and the voltage control circuit (04) of another described linear stepping motor (17) is connected, and forms driven in synchronism by the data synchronization conversion with interacting.
12. the rolling equipment of each described coil among the claim 1-3, it includes drive unit, it is characterized in that:
It also is provided with:
One chassis (36) is connected with a pole (37) on it;
One to accompany the pressing plate axle sleeve of (38,38 ') (41) and described pole (37) top up and down affixed;
The connecting rod of one coil size adjusting device (48) is positioned at the top of described axle sleeve top board (38);
One rotating shaft (40) is arranged in the described axle sleeve (41), one end of described rotating shaft (40) is connected with two cone-shaped rolls that are oppositely arranged (42), the other end is connected with a drive (39), and described drive unit joins with described cone-shaped roll (42) and described drive (39) respectively;
The one charging adjusting device (46) that has charging hole (45) is fixedly installed in described cone-shaped roll (42) upper end with baffle fixing (44); Described baffle fixing (44) downside and be positioned at described two cone-shaped rolls (42) both sides and be fixed with baffle plate (47) respectively;
Cylindrical conductor (50) is drawn by the lead frame of a peripheral hardware, enters between two cone-shaped rolls (42) by described charging hole (45), through the flat conductive wire of its rolling one-tenth along a direction coiled coil.
13. rolling equipment according to claim 12 is characterized in that: the cone angle of described cone-shaped roll (42) is 30 °-90 °.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200410000720.4 | 2004-01-16 | ||
| CNA2004100007204A CN1558430A (en) | 2004-01-16 | 2004-01-16 | Slice line coil and its manufacturing equipment |
| CN200410069382.X | 2004-07-22 | ||
| PCT/CN2005/000055 WO2005074107A1 (en) | 2004-01-16 | 2005-01-14 | A coil, its application and its special manufacture equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1906830A CN1906830A (en) | 2007-01-31 |
| CN1906830B true CN1906830B (en) | 2010-05-05 |
Family
ID=37675031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2005800016719A Expired - Fee Related CN1906830B (en) | 2004-01-16 | 2005-01-14 | Coil, its application and dedicated device for making coil |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1906830B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270163B (en) * | 2014-09-23 | 2017-03-29 | 李建尧 | A kind of contactless radio |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87104150A (en) * | 1986-06-08 | 1988-02-24 | 索尼公司 | Flatwise coil and manufacture method thereof |
| CN1392656A (en) * | 2002-01-21 | 2003-01-22 | 张金铭 | Permanent magnetic simple stepper moter |
| DE10152054A1 (en) * | 2001-09-25 | 2003-04-24 | Karl Fuhr Gmbh & Co Kg | Device used for the manufacture of a metallic flat belt conductor by cold rolling comprises roller pairs between which cold working of a wire occurs |
| CN1458741A (en) * | 2003-05-11 | 2003-11-26 | 张金铭 | Driving circuit for intelligent step motor |
-
2005
- 2005-01-14 CN CN2005800016719A patent/CN1906830B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87104150A (en) * | 1986-06-08 | 1988-02-24 | 索尼公司 | Flatwise coil and manufacture method thereof |
| DE10152054A1 (en) * | 2001-09-25 | 2003-04-24 | Karl Fuhr Gmbh & Co Kg | Device used for the manufacture of a metallic flat belt conductor by cold rolling comprises roller pairs between which cold working of a wire occurs |
| CN1392656A (en) * | 2002-01-21 | 2003-01-22 | 张金铭 | Permanent magnetic simple stepper moter |
| CN1458741A (en) * | 2003-05-11 | 2003-11-26 | 张金铭 | Driving circuit for intelligent step motor |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2001-28808A 2001.01.30 |
Also Published As
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|---|---|
| CN1906830A (en) | 2007-01-31 |
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