CN201383777Y - Switch magnetic reluctance type magnetic suspension spherical drive joint - Google Patents
Switch magnetic reluctance type magnetic suspension spherical drive joint Download PDFInfo
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- CN201383777Y CN201383777Y CN200920040447U CN200920040447U CN201383777Y CN 201383777 Y CN201383777 Y CN 201383777Y CN 200920040447 U CN200920040447 U CN 200920040447U CN 200920040447 U CN200920040447 U CN 200920040447U CN 201383777 Y CN201383777 Y CN 201383777Y
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Abstract
A switch magnetic reluctance type magnetic suspension spherical drive joint belongs to the technical field of electromechanical integration. The joint comprises a base, a joint body, a rotating arm and a detection and control system, wherein the joint body is equipped with a stator, a winding and a spherical rotor, the base is fixed with the stator into a whole, the inner part of the stator takes the shape of a spherical inner surface with an opening, the spherical rotor is fixed with the rotating arm into a whole, and the rotating arm extends to the outer end through the opening of the stator. An airgap exists between the spherical inner surface of the stator and the spherical outer surface of the rotor when the inner surface and the outer surface are concentric, and at least two electromagnet clipping mechanisms and a plurality of sensors used for detecting the position and running speed of the rotor are configured on the stator; and the detection and control system is provided with a DSP digital controller, a drive circuit, an inverter, a rectification voltage stabilizing circuit, a sensor and a signal processing circuit. The joint has the advantages that the structure is simple and compact, friction and abrasion do not exist between the spherical rotor and the stator of the joint, the dynamic performance is good, and the response speed is quick.
Description
Technical field
The utility model relates to widely used articular system in a kind of engineering, belong to electromagnetic technology field with supporting driving function.
Background technology
Spherical joint is at robot and manipulator, and even universal wheel of multi-coordinate machining center, the big aircraft that navigates, electric gyro, omnidirectional tracking antenna, gun turret turntable, medicine equipment, camera operation platform, panoramic shooting operating desk, mixer, travel mechanism, globe valve, ball pump etc. have in the equipment of a plurality of freedoms of motion and be with a wide range of applications.Articular system comprises driver, driver and controller, belongs to the basic components of robot, is an important step in the entire machine people servo system, and its structure, weight, size have a direct impact the robot performance.The type of drive in joint mainly contains: the 1) hydraulic servo driving system of being made up of hydraulic motor, servo valve, oil pump and fuel tank etc.; 2) the pneumatic servo drive system of forming by cylinder, air valve, gas tank and air compressor machine; 3) the electrical servo drive system that adopts servomotor, speed reduction gearing etc. to form.From the application present situation of joint of robot as can be known, joint of robot adopts motor acceleration and deceleration mechanism type of drive usually at present.Most of joints are multi-freedom joint, and the motion of multi-freedom joint utilizes translation by several joints by the connecting rod connection and the coordinated movement of various economic factors that rotatablely moves produces, and often needs to adopt the driving mechanism and the complicated mechanical transmission mechanisms of many cover single-degree-of-freedoms to finish.To cause complex structure like this, bulky, joint rubbing surface serious wear, inefficiency is made very difficulty is installed, and the space scope is little, and it is slow to respond, and dynamic property is relatively poor.And the accumulative total of machine driven system error causes the precise decreasing of The whole control system, even influences the stability of system.
The utility model content
The purpose of this utility model is the problems referred to above that exist at existing joint, based on magnetic levitation technology and motor technology, provide a kind of mechanical integrated level height, simple in structure, do not have friction, do not have wearing and tearing, precision is high and dynamic property is good, has the multivariant switching magnetic-resistance formula magnetic suspension spherical active joint that can walk around the rotation of fixed point spatial axes.
The purpose of this utility model is to realize like this, switching magnetic-resistance formula magnetic suspension spherical active joint, comprise base, joint body (magnetic suspension spherical reluctance machine), cursor, detection control system, it is characterized in that described joint body is provided with stator and winding and spherical spinner, base and stator are fixed as one, stator interior is shaped as the spherical inside surface of an opening, and spherical spinner and cursor are fixed as one, and cursor stretches to the outer end by the stator openings place; When the two is concentric, there is certain air gap (gap) between the spherical inside surface of stator and the spherical outer surface of rotor, on stator, is furnished with the transducer of at least 2 electromagnet fixtures and plurality of detection rotor-position and movement velocity; Described detection control system is provided with DSP digitial controller, drive circuit, inverter, regulator rectifier circuit, transducer, signal processing circuit.
The spherical inside surface of described stator is the spherical interior enveloping surface that has groove, groove is divided into whole spherical inside surface the stator salient poles of the identical small elemental area of geometry, being parallel to the centre of sphere is in the groove on each three-dimensional coordinate plane of the origin of coordinates, is respectively equipped with main winding and auxiliary winding.
The spherical outer surface of described spherical spinner has vertical and continuous groove mutually, and groove is divided into whole spherical outer surface the rotor with salient pole of the identical small elemental area of geometry.
Described electromagnet fixture is made of electromagnet core, coil windings, clamping armature.Under the spring force effect, be not in clamp position when do not work in the joint, under the electromagnetic force effect, be in releasing orientation during the work of joint.
Detect control system, by the transducer position and attitude of detection rotor (radial displacement and tangential displacement) constantly, handle A/D conversion and control algolithm are carried out in the back by the DSP digitial controller computing through signal processing circuit, and be converted to the control suspension and control two groups of pwm pulse control signals of rotating, pwm control signal control switch power amplifier and inverter, make the electric current that offers stator winding through the power supply of voltage stabilizing rectification, change the suspension magnetic force of regulating supporting rotor and the electromagnetic torque that drives spherical rotor rotation with pwm pulse signal, spherical rotor stability suspends and the driving rotor rotates by given instruction to support.The DSP digitial controller is used for finishing to the sampling of joint rotor posture position, speed and calculates in real time, to the control of joint rotor posture position and speed and joint stator winding electric current, and produce PWM control wave realization energy converting between mechanical supporting joint rotor suspension and rotation.
The main winding of stator winding is used to produce rotating torques, the magnetic field mutual superposition that magnetic field that auxiliary winding forms and main winding form produces the radial load that acts on the spherical spinner, make rotor realize suspending, to realize to the radially stable suspersion of spherical spinner and the driving of three rotary freedom directions.
The utility model integrated application magnetic levitation technology and motor technology are realized the suspension supporting of spherical joint and drive the joint rotating.In the course of work of joint, by the transducer position and attitude of detection rotor (radial displacement and tangential displacement) constantly, and institute's detection signal modulated, amplify, demodulation, signal processing such as filtering, the rotor-position attitude signal of handling is carried out A/D conversion and the comparison of and instruction signal by the DSP digitial controller, and the computing of doing control algolithm, be converted to two groups of pwm pulse control signals that control suspends and control is rotated, remove to control inverter separately, source current through the voltage stabilizing rectification is changed with pwm pulse signal, regulate the electromagnetism radial suspension magnetic force that electromagnetic torque that the main winding of joint motor stator produces and auxiliary winding produce respectively, with control joint rotor stability suspend and according to given angular displacement or angular speed instruction rotation.
The utility model is simple in structure, compact, and realizing between the spherical spinner in joint and the stator does not have friction, do not have wearing and tearing, and dynamic property is good, and response speed is fast.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is a contour structures schematic diagram of the present utility model;
Fig. 3 is the schematic cross-section at stator of the present utility model and rotor position;
Fig. 4 is stator of the present utility model and working rotor principle schematic;
Among the figure: 1 bolt, 2 cursors, 3 spherical spinners, 4 air gaps, 5 stators, 6 transducers, 7 sensor stands, 8 electromagnet fixtures, 9 bases, 10 fixed covers, 11 grooves, 12 transducers, 13 screws, 14 rotor grooves, 15 spherical spinner carriages, 16 transducers, 17 attachment screws, 18 stator salient poles, 19 auxiliary winding, 20 main windings, 21 rotor with salient pole, 22 α directions left side air gap, the right air gap of 23 α directions, 24 main winding magnetic fluxs, 25 auxiliary winding magnetic fluxs.
Embodiment
As Fig. 1, Fig. 2, Fig. 3, shown in, switching magnetic-resistance formula magnetic suspension spherical active joint, by base 9, joint body (or claiming the magnetic suspension spherical reluctance machine), formations such as cursor 2 and detection control system, the joint body has stator 5 and winding and spherical spinner 3, base 9 is fixed as one with stator 5, stator 5 interior shapes are the spherical inside surface of an opening, spherical inside surface is the spherical interior enveloping surface that has groove, groove is divided into the identical small elemental area of geometry with whole spherical inside surface and constitutes stator salient poles 18, being parallel to the centre of sphere is in the groove 11 on each three-dimensional coordinate plane of the origin of coordinates, is respectively equipped with main winding 20 and auxiliary winding 19.The spherical outer surface of spherical spinner 3 has vertical and continuous groove mutually, and groove is divided into the identical small elemental area of geometry with whole spherical outer surface and constitutes rotor with salient pole 21.Spherical spinner 3 is fixed as one with cursor 2, and cursor 2 stretches to the outer end by the stator openings place.When the two is concentric, there is certain air gap (gap) between the spherical inside surface of stator 5 and the spherical outer surface of rotor, on stator, arranges the transducer 6,12,16 of at least 2 electromagnet fixtures 8 and detection rotor position and movement velocity.Detect control system and be provided with DSP digitial controller, drive circuit, inverter, regulator rectifier circuit, transducer 6,12,16, signal processing circuit.Electromagnet fixture 8 is made up of electromagnet core, coil windings, clamping armature.Under the spring force effect, be not in clamp position when do not work in the joint, under the electromagnetic force effect, be in releasing orientation during the work of joint.
As shown in Figure 3, Figure 4, stator adopts concentrates winding, and main winding 20 and auxiliary winding 19 are all arranged on each stator salient poles 18, and main winding 20 is with circumferentially arranging A, B, C three phase windings by the stator salient poles sequential loop, and with the homophase windings in series together, the electric current in each phase winding is respectively i
A, i
B, i
C, energising will produce the main winding magnetic flux 24 of this phase to certain phase winding.Be example mutually with A among the figure, four main winding 20 series connection on the salient pole form A phase main windings (left and right sides adjacent four over against the main winding series connection on the salient pole form C mutually with B main winding mutually), each is controlled by certain power on/off condition mode mutually to each main winding, according to the reluctance motor operation principle, spherical spinner will rotate in this coordinate plane; Auxiliary winding 19 is superimposed upon on the main winding 20, be divided into α winding and β winding, usually α is vertical mutually with β, the α winding is to be in series by two auxiliary winding on the stator salient poles on the α direction, the β winding is to be in series over against the auxiliary winding on the stator salient poles by two in β direction, and rotates with the stator salient poles change in location.Be respectively i at α winding that superposes on the A phase main winding and the electric current on the β winding
A αAnd i
A β, be respectively i at α winding that superposes on the B phase main winding and the electric current on the β winding
B αAnd i
B β, be respectively i at α winding that superposes on the C phase main winding and the electric current on the β winding
C αAnd i
C β, the auxiliary winding energising will produce the auxiliary winding magnetic flux.When main winding feeds current i
AThe time, if rotor moves towards the negative direction that with the stator is the α axle at center, then the magnetic flux distribution of air gap can become inhomogeneous, air gap 22 length in the left side reduce and the magnetic pull increase, the right air gap 23 length increase and magnetic pull reduces, at this moment will produce along the radial load of α axle negative direction, and, feed forward current i for the auxiliary winding 19 of α direction for this power of balance
A α, this moment, the magnetic flux density of the right air gap 23 can be strengthened, and this is because the auxiliary winding magnetic flux 12 on air gap 23 α of place direction of principal axis and the direction of main winding magnetic flux 24 are consistent.In contrast, air gap 22 magnetic flux densities in the left side reduce, because the auxiliary winding magnetic flux 12 on this moment air gap 22 α of the place direction of principal axis and the direction of main winding magnetic flux 24 are opposite, superposition magnetic field will produce a radial load F who acts on rotor on the α direction of principal axis like this.On the other hand, as long as in the auxiliary winding of α direction, feed negative current i
A α, will on the direction of α axle, produce a reciprocal radial load.In addition, in the auxiliary winding of β direction, feed current i
A βJust can on the β direction, produce a radial load.Therefore, only need to regulate size of current and direction on α and the β direction, just can produce the radial load of any direction, and can regulate its size arbitrarily.B is mutually identical with A with the principle of radial suspension force with C phase winding and auxiliary winding generation electromagnetic torque thereof mutually.
The course of work of magnetic suspension spherical active joint: as shown in Figure 2, when the joint is in stopped status, by in the electromagnet fixture 8 under the effect of spring force, the attitude of joint spherical spinner 3 is locked in the equilbrium position.When the joint was in and do not have to change suspends, to radial suspension command signal and the angular displacement command signal of magnetic suspension when initiatively the rotor of the given all directions of articular system is in the equilbrium position, electromagnet fixture 8 armature unclamped spherical spinner 3 under the effect of electromagnetic force simultaneously.Command signal and transducer 6,12, the 16 rotor posture position signals that detect compare computing with control algolithm by the DSP digitial controller, and be converted to the control suspension and control two groups of pwm pulse control signals of rotating, PWM Suspension Control signal controlling inverter makes the electric current that offers stator auxiliary winding 11 through the power supply of voltage stabilizing rectification, change the suspension magnetic force of regulating supporting rotor 3 with pwm pulse signal, PWM rotation control signal control inverter make electric current that the power supply through the voltage stabilizing rectification offers stator main winding 11 with, pwm pulse signal change and the magnetic torque of regulating rotor with balance opposing external interference moment, attitude when under suspension magnetic force and magnetic torque comprehensive function spherical spinner 3 being controlled at clamp position is to reach the non-rotary stable suspersion of spherical spinner; The joint suspends when rotating, the joint is on non-rotary stable suspersion basis, input is along the angular displacement and the rotary speed instruction signal of certain rotational freedom direction, output PWM rotation control signal after digitial controller carries out Signal Regulation, remove to regulate each power transistor of control inverter, make through the DC power supply of voltage stabilizing rectification circuit rectification and power to the joint main winding according to pwm pulse control signal rule, rotate to command request by institute to produce electromagnetic torque driving rotor by inverter.
Claims (4)
1, a kind of switching magnetic-resistance formula magnetic suspension spherical active joint, comprise base, the joint body, cursor, detect control system, it is characterized in that described joint body is provided with stator and winding and spherical spinner, base and stator are fixed as one, stator interior is shaped as the spherical inside surface of an opening, spherical spinner and cursor are fixed as one, cursor stretches to the outer end by the stator openings place, when the two is concentric, there is certain air gap between the spherical inside surface of stator and the spherical outer surface of rotor, on stator, is furnished with the transducer of at least 2 electromagnet fixtures and plurality of detection rotor-position and movement velocity; Described detection control system is provided with DSP digitial controller, drive circuit, inverter, regulator rectifier circuit, transducer, signal processing circuit.
2, switching magnetic-resistance formula magnetic suspension spherical active joint according to claim 1, the spherical inside surface that it is characterized in that described stator is the spherical interior enveloping surface that has groove, groove is divided into whole spherical inside surface the stator salient poles of the identical small elemental area of geometry, being parallel to the centre of sphere is in the groove on each three-dimensional coordinate plane of the origin of coordinates, is respectively equipped with main winding and auxiliary winding.
3, switching magnetic-resistance formula magnetic suspension spherical active joint according to claim 1, the spherical outer surface that it is characterized in that described spherical spinner has vertical and continuous groove mutually, and groove is divided into whole spherical outer surface the rotor with salient pole of the identical small elemental area of geometry.
4, switching magnetic-resistance formula magnetic suspension spherical active joint according to claim 1 is characterized in that described electromagnet fixture is made of electromagnet core, coil windings, clamping armature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920040447U CN201383777Y (en) | 2009-04-23 | 2009-04-23 | Switch magnetic reluctance type magnetic suspension spherical drive joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920040447U CN201383777Y (en) | 2009-04-23 | 2009-04-23 | Switch magnetic reluctance type magnetic suspension spherical drive joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201383777Y true CN201383777Y (en) | 2010-01-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920040447U Expired - Fee Related CN201383777Y (en) | 2009-04-23 | 2009-04-23 | Switch magnetic reluctance type magnetic suspension spherical drive joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201383777Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104653970A (en) * | 2015-02-05 | 2015-05-27 | 柳州如洋精密科技有限公司 | Measuring engine base for articulated arm |
-
2009
- 2009-04-23 CN CN200920040447U patent/CN201383777Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104653970A (en) * | 2015-02-05 | 2015-05-27 | 柳州如洋精密科技有限公司 | Measuring engine base for articulated arm |
| CN104653970B (en) * | 2015-02-05 | 2017-06-27 | 柳州如洋精密科技有限公司 | Joint arm measuring engine base |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100113 Termination date: 20120423 |