CN203056800U - Two-degree-of-freedom stepping motor with orthogonal cylinder structure for bionic eye - Google Patents
Two-degree-of-freedom stepping motor with orthogonal cylinder structure for bionic eye Download PDFInfo
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- CN203056800U CN203056800U CN 201220678092 CN201220678092U CN203056800U CN 203056800 U CN203056800 U CN 203056800U CN 201220678092 CN201220678092 CN 201220678092 CN 201220678092 U CN201220678092 U CN 201220678092U CN 203056800 U CN203056800 U CN 203056800U
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Abstract
The utility model discloses a two-degree-of-freedom stepping motor with an orthogonal cylinder structure for a bionic eye, which comprises an inner stator, an outer rotor, an outer stator and a base. The base is provided with a supporting shaft. The inner stator comprises an inner stator upper part and an inner stator lower part. The inner stator upper part and the inner stator lower part are respectively fixed on the supporting shaft. The inner stator upper part and the inner stator lower part are separated through air. A longitudinal bearing outer ring is matched with a non-magnetism-conductive longitudinal end cover. The outer rotor is connected with the supporting shaft and the outer stator is provided with an output shaft. The outer stator is mounted on the non-magnetism-conductive longitudinal end cover. The outer stator comprises two sections of outer stator iron cores. The outer rotor comprises an arc-shaped permanent magnet and two sections of outer rotor iron cores at the two sides of the outer rotor. A plurality of small teeth are uniformly distributed at the outer sides of the outer stator iron cores. The inner sides of the two sections of the outer rotor iron cores are respectively provided with four outer rotor iron core small teeth. An outer rotor inner tooth end part and an outer rotor outer tooth end part are respectively machined into an inner cylindrical face and an outer cylindrical face, which are mutually orthogonal by taking a vertical axis and a cross axis as axes.
Description
Technical field
The present invention relates to a kind of two-freedom motor, relate in particular to a kind of bionical eyeball orthocycle rod structure two-freedom stepping motor that bionical eyeball moves within the specific limits that is suitable for driving.
Background technology
The multiple degrees of freedom electric tools has characteristics such as mechanical integrated level height, electric machine structure material and driving control system element utilance height, can simplify the structure of mechanical system greatly, reduce volume and weight, the precision of raising system and dynamic property are with a wide range of applications in robot etc. has the system of a plurality of freedoms of motion.Since the eighties, along with the fast development of robot and space technology, the research of multiple degrees of freedom motor and application facet thereof comes into one's own day by day, and the research work of Chinese scholars is very active, and various model machines emerge in an endless stream.From available data, the multiple degrees of freedom motor that Chinese scholars is developed mostly adopts spherical structure, and is comparatively reasonable from the spherical structure of structural principle, but exists as shortcomings such as complex structure processing difficulties.
In view of spherical structure multiple degrees of freedom electric motor structure complexity and processing difficulties, Harbin Institute of Technology has proposed the two air gaps of a kind of aspheric orthocycle rod structure two-freedom motor of magnet steel altogether.Fig. 1 is the STRUCTURE DECOMPOSITION figure of traditional orthocycle rod structure two-freedom motor, and Fig. 2 and Fig. 3 are respectively the structural principle schematic diagrames of two degrees of freedom of this model machine.This motor is made up of internal stator I 28, internal rotor 25, external rotor I 24, back shaft I 26, base I 27, output shaft I 23, casing 33, a pair of permanent magnet I 31, a pair of horizontal bearing I 22, a vertical bearing I 29.External rotor 24 is formed by silicon steel plate stacking, evenly arranges on the inside circumference some teeth and groove external rotor winding 30, internal rotor winding 32 to be set in the groove, and output shaft 23 is arranged on the external rotor top.Internal stator 28 is made up of the two iron leg hearts, and two iron legs little tooth in the heart is wrong 1/2 tooth pitch mutually.Internal rotor 25 is made up of the two iron leg hearts of permanent magnet and both sides thereof, and permanent magnet 31 vertical axial chargings arrange the two-phase excitation winding on the two iron leg heart inner tines.Be processed into respectively with transverse axis and the longitudinal axis internal rotor external teeth end and inner teeth end is two mutually orthogonal faces of cylinder of axis, forms concentric column with external rotor and internal stator tooth surface respectively.Internal rotor and casing are fixed together, and external rotor is installed together by horizontal bearing and casing, thereby external rotor can rotate with respect to casing.Back shaft is installed together by vertical bearing and casing, thereby casing can rotate with respect to back shaft.
The operation principle of traditional orthocycle rod structure two-freedom motor: when two phase windings of external rotor press A-B--A--during the energising of the order of B, magnetic flux φ 1 forms the closed-loop path through permanent magnet → one section internal rotor iron core → air gap → external rotor iron core → air gap → another section internal rotor iron core → permanent magnet, machine operation is in the permanent-magnet stepping motor state, external rotor rotates around transverse axis with respect to internal rotor, makes output shaft realize elevating movement; When two phase windings of internal rotor press A-B--A--during the energising of the order of B, magnetic flux φ 2 forms the closed-loop path through permanent magnet → one section internal rotor iron core → air gap → two section internal stator iron core → air gap → another section internal rotor iron core → permanent magnet, machine operation is in the hybrid type stepping motor state, internal rotor rotates around the longitudinal axis with respect to internal stator together with external rotor, makes output shaft rotation thereupon (when output shaft is in vertical position) or side-sway (when output shaft is in deflection state).Magnetic flux φ 1 and φ 2 pass through permanent magnet, two sections air gaps are public permanent magnet, i.e. two air gaps permanent magnet altogether, thereby this motor utilizes a permanent magnet, two groups of windings to realize the motion of two degrees of freedom, the motor volume is less, has higher ratio of performance and volume.
Although compare with the spherical structure motor, traditional orthocycle rod structure two-freedom motor is structurally simplified more, easier processing and manufacturing, volume is littler, but there is following problem in it when actual motion: because external rotor works in the permanent-magnet stepping motor state, its step angle is a pole span angle, and pole span can not be too little in the reality, otherwise winding can't place, thereby step angle is bigger, motor location precision is lower, and motion smoothing is relatively poor; Internal rotor can not continue to rotate by single direction around the longitudinal axis with respect to internal stator together with external rotor in the actual motion, otherwise will cause two phase windings of internal rotor and external rotor to place.
Simultaneously, because require the volume of used two-freedom motor littler when driving bionical eyeball, quality is lighter, positioning accuracy is higher, the operation flatness is better, and can make eyeball (output shaft end) certain any orbiting motion in precision lower edge (comprising that eyeball rotates continuously) in given range, traditional orthocycle rod structure two-freedom motor be not suitable for driving bionical oculomotor.
Summary of the invention
The objective of the invention is for overcoming above-mentioned the deficiencies in the prior art; A kind of bionical eyeball orthocycle rod structure two-freedom stepping motor is provided; Realize to drive bionical eyeball within the specific limits any track in certain precision lower edge, rotate constantly, and can be littler than traditional orthocycle rod structure two-freedom motor volume, quality is lighter, positioning accuracy is higher, the operation flatness is better.
To achieve these goals, the present invention adopts following technical scheme:
A kind of bionical eyeball orthocycle rod structure two-freedom stepping motor, comprise internal stator, external rotor, external stator, base, base is provided with back shaft, internal stator comprises internal stator top, the internal stator bottom, internal stator top, the internal stator bottom is individually fixed on the back shaft, internal stator top, internal stator separates by air between the bottom, internal stator top, mutual wrong 1/4 tooth pitch between the internal stator bottom, internal stator top is provided with two sections top iron cores, two sections top wrong 1/2 tooth pitches mutually unshakable in one's determination, the internal stator bottom is provided with two pars infrasegmentalis iron cores, two pars infrasegmentalises wrong 1/2 tooth pitch mutually unshakable in one's determination, internal stator top be provided with the A phase winding and-the A phase winding, the internal stator bottom be provided with the B phase winding and-the B phase winding, the A phase winding and-A phase winding coiling direction is opposite, the B phase winding and-B phase winding coiling direction is opposite, back shaft is provided with vertical bearing, the longitudinal axis bearing outer-ring cooperates with the vertical end cap of magnetic conduction not, external rotor passes through not, and the vertical end cap of magnetic conduction is connected with back shaft, thereby external rotor can rotate continuously around back shaft, external stator is provided with output shaft, output shaft is fixed on the center of external stator, output shaft place axis and longitudinal axis quadrature, thus output shaft can be synchronized with the movement with external stator; External stator is connected with magnetic conduction connecting rod not, the magnetic conduction connecting rod does not cooperate with the endoporus of horizontal bearing, laterally the outer ring of bearing cooperates with the horizontal end cap of magnetic conduction not, the horizontal end cap of magnetic conduction is not connected with vertical end cap, thereby external stator both can rotate around back shaft synchronously with external rotor, again can be with respect to internal stator around the limited rotation of transverse axis; External stator comprises two sections external stator iron cores, and along the external stator inside circumference unshakable in one's determination two pairs of utmost points that distribute, each has some little teeth on extremely, and the two-phase excitation winding is set in the interpolar groove; External rotor 7 comprises two sections external rotor iron cores of arc-shaped permanent magnet and both sides thereof, and some little teeth are evenly arranged in the external rotor iron core outside, and the little tooth on two sections external rotor iron cores is wrong 1/2 tooth pitch mutually; Two sections external rotors inboards unshakable in one's determination have four external rotor internal tooths, and the external rotor internal tooth is corresponding with the top iron core of internal stator, tooth on the iron core of bottom respectively.Be processed into respectively with the longitudinal axis, transverse axis external rotor inner teeth end, external rotor external teeth end is two mutually orthogonal inner circular cylinder, external cylindrical surface of axis, and inner circular cylinder, external cylindrical surface form concentric column with internal stator, external stator tooth surface respectively.
Described A phase winding and-the A phase winding is serially connected, has only a wire terminals, and draw from A phase winding end; The B phase winding and-the B phase winding is serially connected, has only a wire terminals, and draw from B phase winding end.
Two circular arc end faces of described external stator respectively with second end face of magnetic conduction connecting rod not by being welded to connect; Not the outer face of the horizontal end cap of magnetic conduction respectively with first end face of the vertical end cap of magnetic conduction not by being welded to connect.
Described output shaft is provided with microcam, camera axis and output shaft dead in line.
Operation principle of the present invention: when two phase windings of internal stator press A-B--A--during the energising of the order of B, φ 1 forms the closed-loop path through arc-shaped permanent magnet → one section external rotor iron core → air gap → internal stator iron core → air gap → another section external rotor iron core → arc-shaped permanent magnet, machine operation is in two-phase permanent magnet stepping motor state, external rotor rotates around back shaft with respect to internal stator, makes output shaft realize horizontal hunting.When two phase windings of external stator press A-B--A--during the energising of the order of B, φ 2 forms the closed-loop path through arc-shaped permanent magnet → one section external rotor iron core → air gap → external stator iron core → air gap → another section external rotor iron core → arc-shaped permanent magnet, machine operation is in two-phase hybrid stepping motor state, external stator rotates around transverse axis with respect to external rotor, makes output shaft realize elevating movement.
Do a suitable metaphor, the track that two degree of freedom motions separately of motor make the terminal operation of output shaft is warp and the parallel on the globe similarly respectively.In the middle of reality, two degree of freedom motions of motor are all within certain limit rotational angle range, can think motor output shaft can be in one section sphere scope that maximum longitude warp and maximum dimension parallel surround with certain precision along orbiting motion (comprising continuing to rotate that prerequisite is the sphere scope that does not exceed this restriction) arbitrarily.Therefore, as long as the range of movement of the actual bionical eyeball that requires is within one section sphere scope that above-mentioned maximum meridian and maximum latitude line surround, then the present invention can drive the output shaft end eyeball in claimed range with certain precision along orbiting motion (comprise and continue to rotate) arbitrarily.
The invention has the beneficial effects as follows:
1. the motor of two degrees of freedom shares a permanent magnet, and namely two air gaps are total to permanent magnet, and the motor volume is less, thereby has higher ratio of performance and volume; Internal stator is made up of separate two parts, each part all adopts the side set structure, also carry out side set between two parts, the step angle of having realized working in this freedom motor of p-m step motor state become the pole span angle 1/4 (though traditional orthocycle rod structure two-freedom motor also has one degree of freedom to work in the p-m step motor state, but its step angle is a pole span angle, and pole span can not be too little in the middle of actual, otherwise can't place winding, thereby step angle is bigger), thereby under the situation of (otherwise can't place winding) can not be done very for a short time in the pole span angle in practice, step angle is reduced, thereby be conducive to improve the motor positioning accuracy and improve the operation flatness; Can drive bionical eyeball in claimed range with certain precision along orbiting motion (comprise and continue to rotate) arbitrarily, the motor of actual central two degrees of freedom all only needs to rotate limited angle, be convenient to winding and place, thereby overcome traditional orthocycle rod structure two-freedom motor problem that winding can't be placed when reality drives the lasting rotation of bionical eyeball; More much smaller than traditional orthocycle rod structure two-freedom motor volume, weight is lighter, simple and compact for structure, space availability ratio is higher, is easier to realize the microminiaturized of motor and by the microminiaturization of motor-driven bionical eyeball.
2. an outstanding advantage of the present invention is that volume is little, in light weight, space availability ratio is high, the volume of internal stator of the present invention and traditional orthocycle rod structure two-freedom motor are similar, yet external rotor volume of the present invention has only about half of traditional orthocycle rod structure two-freedom ro-tors in electrical volume, and external stator volume of the present invention is more much smaller than the volume of traditional orthocycle rod structure two-freedom motor external rotor especially simultaneously.Therefore, the present invention more is conducive to realize the microminiaturization of motor, so be particularly suitable for the driving of bionical eyeball.
3. than traditional orthocycle rod structure two-freedom motor, positioning accuracy height of the present invention, the operation flatness is good.The common ground of the present invention and traditional orthocycle rod structure two-freedom motor is: the machine operation of one degree of freedom is in the composite stepper motor state, and the machine operation of another degree of freedom is in the p-m step motor state.The positioning accuracy of whole motor depends on the positioning accuracy of the motor of two degree of freedom, for the motor (working in the composite stepper motor state) of first degree of freedom, if the angular pitch of external rotor of the present invention equates that with the angular pitch of the internal stator of traditional orthocycle rod structure two-freedom motor then both positioning accuracies are identical.For the motor (working in the p-m step motor state) of second degree of freedom, internal stator of the present invention has adopted unique side set structure, make step angle become 1/4 of pole span angle, and the step angle of the motor of traditional orthocycle rod structure two-freedom motor second degree of freedom is to equate with the pole span angle.Because actual pole span can not be done too for a short time, otherwise can't place winding, the radius unshakable in one's determination of considering internal stator of the present invention simultaneously is less, and the radius of the external rotor of traditional orthocycle rod structure two-freedom motor big (pole span is directly proportional with pole span angle size and radius size), therefore the pole span angle of traditional orthocycle rod structure two-freedom motor can be done smallerly slightly than pole span of the present invention angle, suppose that the former is the latter's 1/2, the step angle of second freedom motor of the present invention like this is actual be traditional orthocycle rod structure two-freedom motor step angle 1/2.Therefore therefore, the positioning accuracy of second freedom motor of the present invention is higher, and then as a complete unit, the present invention is higher than the positioning accuracy of traditional orthocycle rod structure two-freedom motor, and flatness is better when driving bionical eye movement.
Description of drawings
Fig. 1 is the STRUCTURE DECOMPOSITION figure of traditional orthocycle rod structure two-freedom motor;
Fig. 2 is the structural principle schematic diagram of traditional first degree of freedom of orthocycle rod structure two-freedom motor;
Fig. 3 is the structural principle schematic diagram of traditional second degree of freedom of orthocycle rod structure two-freedom motor;
Fig. 4 is overall structure figure of the present invention;
Fig. 5 is STRUCTURE DECOMPOSITION figure of the present invention;
Fig. 6 is the structural principle schematic diagram of first degree of freedom of the present invention;
Fig. 7 is the structural principle schematic diagram of second degree of freedom of the present invention;
Fig. 8 is internal stator structure chart of the present invention;
Fig. 9 is the end view of bionical eyeball when initial position;
Figure 10 is the end view of looking up angle bionical eyeball when being 40 °;
Figure 11 is the longitude and latitude collimation method mark schematic diagram of bionical eyeball actual motion scope;
Figure 12 be look up the angle when being 40 ° bionical eyeball reach the actual position view of looking up limit of sports record;
Figure 13 drives the principle schematic of bionical eyeball (only having got half) when the initial position with the present invention;
Figure 14 drives bionical eyeball (only having got half) with the present invention to look up the principle schematic of angle when being 40 °;
Figure 15 is during with the traditional bionical eyeball of orthocycle rod structure two-freedom motor driven, the kinematic accuracy schematic diagram of eyeball in given range;
Figure 16 is when driving bionical eyeball with the present invention, the kinematic accuracy schematic diagram of eyeball in given range.
Among the figure, 1, vertical bearing, 2, the vertical end cap of magnetic conduction not, 3, internal stator, 4, the horizontal end cap of magnetic conduction not, 5, horizontal bearing, 6, magnetic conduction connecting rod not, 7, external rotor, 8, arc-shaped permanent magnet, 9, external stator, 10, output shaft, 11, back shaft, 12, base, 13, the external rotor internal tooth, 14, the internal stator winding, 15, the external stator winding, 16, the first of internal stator, 17, the second portion of internal stator, 18, the A phase winding, 19,-A phase winding, 20, the B phase winding, 21,-B phase winding, 22, horizontal bearing I, 23, the output shaft I, 24, the external rotor I, 25, internal rotor, 26, the back shaft I, 27, the base I, 28, the internal stator I, 29, vertical bearing I, 30, external rotor winding I, 31, the permanent magnet I, 32, the internal rotor winding, 33, casing, 41, eyelid, 42, the eye shell, 43, eyeball, 44, video camera, 45, opening area, 46, actual given bionical eyeball operation area, 47,40 ° of warps of east longitude, 48,40 ° of parallels of north latitude, 49,40 ° of warps of west longitude, 50,40 ° of parallels of south latitude, 51, be used for driving the orthocycle rod structure two-freedom stepping motor of bionical eyeball, 59, the outer face, 60, first end face, 61, second end face, 91, the circular arc end face.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further for driving bionical eyeball.
A kind of bionical eyeball orthocycle rod structure two-freedom stepping motor, in conjunction with Fig. 4 to Figure 16, comprise internal stator 3, external rotor 7, external stator 9, base 12, base 12 is provided with back shaft 11, internal stator 3 comprises internal stator top 16, internal stator bottom 17, internal stator top 16, internal stator bottom 17 is individually fixed on the back shaft 11, internal stator top 16, separate by air between the internal stator bottom 17, internal stator top 16, mutual wrong 1/4 tooth pitch between the internal stator bottom 17, internal stator top 16 is provided with two sections top iron cores, internal stator bottom 17 is provided with two pars infrasegmentalis iron cores, internal stator winding 14 comprises A phase winding 18,-A phase winding 19 and B phase winding 20,-B phase winding 21, internal stator top be provided with A phase winding 18 and-A phase winding 19, the internal stator bottom be provided with B phase winding 20 and-B phase winding 21, A phase winding 18 on two sections top iron cores and-A phase winding 19 coiling directions are opposite, B phase winding 20 on the two pars infrasegmentalis iron cores and-B phase winding 21 coiling directions are opposite, back shaft 11 is provided with vertical bearing 1, vertically bearing 1 outer ring cooperates with non-magnetic vertical end cap 2, vertically end cap 2 is fixed together with external rotor 7, thereby external rotor 7 can rotate continuously around back shaft 11, external stator 9 is provided with output shaft 10, output shaft 10 is fixed on the center of external stator 9, output shaft 10 place axis and longitudinal axis quadrature, thus output shaft 10 can be synchronized with the movement with external stator 9.External stator 9 is connected with magnetic conduction connecting rod 6 not, magnetic conduction connecting rod 6 does not cooperate with the endoporus of horizontal bearing 5, laterally the outer ring of bearing 5 cooperates with the horizontal end cap 4 of magnetic conduction not, the horizontal end cap 4 of magnetic conduction is not connected with vertical end cap 2, thereby external stator 9 both can rotate around back shaft 11 synchronously with external rotor 7, again can be with respect to internal stator 3 around the limited rotation of transverse axis; External stator 9 comprises two sections external stator iron cores, and along the external stator inside circumference unshakable in one's determination two pairs of utmost points that distribute, each has some little teeth on extremely, and two-phase excitation winding 15 is set in the interpolar groove.External rotor 7 comprises two sections external rotor iron cores of arc-shaped permanent magnet 8 and both sides thereof, and some little teeth are evenly arranged in the external rotor iron core outside, and the little tooth on two sections external rotor iron core outsides is wrong 1/2 tooth pitch mutually; Two sections external rotors inboards unshakable in one's determination have four external rotor internal tooths 13, and are corresponding with the top iron core of internal stator 3, tooth on the iron core of bottom respectively.Be processed into respectively with the longitudinal axis, transverse axis external rotor 7 inner teeth ends, external rotor 7 external teeth ends is two mutually orthogonal inner circular cylinder, external cylindrical surface of axis, and inner circular cylinder, external cylindrical surface form concentric column with internal stator 3, external stator 9 tooth surfaces respectively.
Two circular arc end faces 91 of external stator 9 respectively with second end face 61 of magnetic conduction connecting rod 6 not by being welded to connect; Not the outer face 59 of the horizontal end cap 4 of magnetic conduction respectively with first end face 60 of the vertical end cap 2 of magnetic conduction not by being welded to connect.
Described output shaft 10 is provided with microcam 44, video camera 44 axis and output shaft 10 deads in line.
As shown in Figure 13, when reality drives bionical eyeball with the present invention, orthocycle rod structure two-freedom stepping motor 51 major parts for the bionical eyeball of driving of the present invention all are positioned over bionical eyeball inside, microcam is housed on the output shaft, and need back shaft of the present invention is made as shown in the figure structure, and can only be from opening area 45 with the interior bionical eyeball outside that is drawn out to fix.
By shown in Figure 14, the eye shell 42 in the bionical eyeball, eyeball 43, video camera 44 are rotating part, and eye shell 42, eyeball 43, video camera 44 threes are fixed together, and are synchronized with the movement with output shaft 10 of the present invention; Eyelid 41 in the bionical eyeball is fixed, and is relative static with back shaft 11.By shown in Figure 10, look up the angle when being 40 ° (only with regard to this example) when bionical eyeball, the edge of eyeball arrives top layer eyelid place just, and an eye shell then moves to shown position.In case bionical eyeball is looked up the angle greater than 40 °, then the part of eyeball has just been covered by eyelid, and this is unallowed.According to the symmetry of spheroid as can be known, when the edge of eyeball nestled up one week of eyelid border movement (being oculomotor limit range), the track in one week of border movement of eye shell formed an opening area 45, as shown in figure 10.Because this opening area is bionical eyeball when moving in the limit range that limits, the zone that eye shell institute can not arrive, so just the lead-in wire of back shaft and winding can be worn out from this opening area.
With regard to this routine the present invention, the central point of bionical eyeball is that the prescribed limit range of operation of center of camera lens is shown in the actual given bionical eyeball operation area 46 among Figure 11.Scope accordingly, this example has designed eyelid scope and eyeball size as shown in figure 11, and when making central point arrival prescribed limit range of operation 46 when eyeball 43, the edge of eyeball 43 arrives the edge of eyelid 41 just.By shown in Figure 12, look up the angle when being 40 ° when bionical eyeball, the central point of eyeball 43 reaches the summit of prescribed limit range of operation 46 just, and the edge of eyeball 43 reaches the edge vertices of eyelid 41 just simultaneously.
Illustrate with the longitude and latitude collimation method, actual given bionical eyeball operation area 46 is included in 40 ° of parallels 50 of south latitude just, and 40 ° of parallels 48 of north latitude are within the spherical area scope that 40 ° of warps 47 of east longitude and 40 ° of warps 49 of west longitude surround, and be this regional inscribe sphere, as shown in figure 11.Therefore, as long as with the rotational angle of two degree of freedom stepping motors among the present invention She Ji Wei ≧ 40 ° all, just can satisfy the requirement that bionical eyeball moves within prescribed limit range of operation 46 with certain precision.
For to positioning accuracy height of the present invention, the good advantage of operation flatness is described further, the positioning accuracy of positioning accuracy in the time of will driving bionical eyeball with the present invention with the traditional bionical eyeball of orthocycle rod structure two-freedom motor driven the time compares (in this special instruction, be to drive bionical eye with traditional orthocycle rod structure two-freedom motor in the reality, just as discussed earlier, reason is the problem that exists winding to place in the reality, the present invention is not because then existing this problem, thereby here more only be to compare theoretically), as Figure 15, shown in Figure 16.Specific as follows: as to suppose that the external rotor number of teeth of the present invention is identical with the internal stator number of teeth of traditional orthocycle rod structure two-freedom motor, then the angular pitch of both first freedom motors equates, simultaneously because both all need not place winding, then angular pitch can be done enough for a short time, supposes that here angular pitch is 7.2 °; Owing to need to place winding on traditional orthocycle rod structure two-freedom motor outer rotor teeth, pole span can not be too little, its external rotor radius big (pole span is directly proportional with pole span angle size and radius) is 10 ° at this angular pitch (pole span angle) of supposing its external rotor simultaneously; Because also need place winding on the internal stator tooth of the present invention, pole span can not be too little, internal stator radius of the present invention is less simultaneously, is 24 ° at this angular pitch (pole span angle) of supposing its internal stator.Because the motor of the present invention and traditional orthocycle rod structure two-freedom motor first degree of freedom all works in the two-phase hybrid stepping motor state, then step angle is 1/4 of angular pitch, namely 1.8 °.The machine operation of second degree of freedom of the present invention is in the p-m step motor state, because internal stator has adopted unique side set structure, then step angle is 1/4 of angular pitch (pole span angle), namely 6 °; The motor of second degree of freedom of traditional orthocycle rod structure two-freedom motor is the p-m step motor state that works in equally, but its then step angle equate namely 10 ° with the pole span angle.
As seen from Figure 15, for for traditional bionical oculomotor situation of orthocycle rod structure two-freedom motor driven (only in theory), under above-mentioned assumed condition, the position that bionical eyeball central point can reach is exactly that the prescribed limit scope 46(shown in Figure 15 comprises 46 borders) with the correspondence position of intersection point on sphere of interior circumference and line segment.As seen, the positioning accuracy of bionical eyeball is constantly to change within given operation area, and the closer to center, given operation area, positioning accuracy is more high; Otherwise away from the center of given operation area, positioning accuracy is more low.Simultaneously, because the step angle of its second freedom motor is bigger, increased the weight of the inhomogeneities of the positioning accuracy distribution of bionical eyeball.Thereby when moving in whole given operation area with traditional bionical eyeball of orthocycle rod structure two-freedom motor driven, flatness is relatively poor.
As seen from Figure 16, for drive bionical oculomotor situation with the present invention for, under above-mentioned assumed condition, the position that bionical eyeball central point can reach is exactly that the prescribed limit scope 46(shown in Figure 16 comprises 46 borders) with the correspondence position of intersection point on sphere of interior warp and parallel.As seen, the positioning accuracy of bionical eyeball is evenly constant within given operation area, and the step angle of two freedom motors of the present invention is all very little.Thereby when driving bionical eyeball and move in whole given operation area with the present invention, flatness is better.
Though above-mentionedly by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (4)
1. a bionical eyeball is with orthocycle rod structure two-freedom stepping motor, comprise internal stator, external rotor, external stator, base, base is provided with back shaft, it is characterized in that, described internal stator comprises internal stator top, the internal stator bottom, internal stator top, the internal stator bottom is individually fixed on the back shaft, internal stator top, internal stator separates by air between the bottom, internal stator top, mutual wrong 1/4 tooth pitch between the internal stator bottom, internal stator top is provided with two sections top iron cores, two sections top wrong 1/2 tooth pitches mutually unshakable in one's determination, the internal stator bottom is provided with two pars infrasegmentalis iron cores, two pars infrasegmentalises wrong 1/2 tooth pitch mutually unshakable in one's determination, internal stator top be provided with the A phase winding and-the A phase winding, the internal stator bottom be provided with the B phase winding and-the B phase winding, the A phase winding and-A phase winding coiling direction is opposite, the B phase winding and-B phase winding coiling direction is opposite, back shaft is provided with vertical bearing, the longitudinal axis bearing outer-ring cooperates with non-magnetic vertical end cap, external rotor is connected with back shaft by non-magnetic vertical end cap, external stator is provided with output shaft, output shaft is fixed on the center of external stator, output shaft place axis and longitudinal axis quadrature, external stator is connected with magnetic conduction connecting rod not, the magnetic conduction connecting rod does not cooperate with the endoporus of horizontal bearing, laterally the outer ring of bearing cooperates with the horizontal end cap of magnetic conduction not, and the horizontal end cap of magnetic conduction is not connected with vertical end cap; External stator comprises two sections external stator iron cores, and along the external stator inside circumference unshakable in one's determination two pairs of utmost points that distribute, each has some little teeth on extremely, and the two-phase excitation winding is set in the interpolar groove; External rotor comprises two sections external rotor iron cores of arc-shaped permanent magnet and both sides thereof, some little teeth are evenly arranged in the external rotor iron core outside, little tooth on two sections external rotor iron cores is wrong 1/2 tooth pitch mutually, two sections external rotor inboards unshakable in one's determination have four external rotor internal tooths, the external rotor internal tooth respectively with the top iron core of internal stator, tooth on the iron core of bottom is corresponding, external rotor inner teeth end, be processed into respectively with the longitudinal axis external rotor external teeth end, transverse axis is the mutually orthogonal inner circular cylinders of two of axis, external cylindrical surface, the inner circular cylinder, external cylindrical surface respectively with internal stator, the external stator tooth surface forms concentric column.
2. bionical eyeball as claimed in claim 1 is characterized in that with orthocycle rod structure two-freedom stepping motor, described A phase winding and-the A phase winding is serially connected, has only a wire terminals, and draw from A phase winding end; The B phase winding and-the B phase winding is serially connected, has only a wire terminals, and draw from B phase winding end.
3. bionical eyeball as claimed in claim 1 is characterized in that with orthocycle rod structure two-freedom stepping motor, two circular arc end faces of described external stator respectively with second end face of magnetic conduction connecting rod not by being welded to connect; Not the outer face of the horizontal end cap of magnetic conduction respectively with first end face of the vertical end cap of magnetic conduction not by being welded to connect.
4. bionical eyeball as claimed in claim 1 is characterized in that described output shaft is provided with microcam, camera axis and output shaft dead in line with orthocycle rod structure two-freedom stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220678092 CN203056800U (en) | 2012-12-10 | 2012-12-10 | Two-degree-of-freedom stepping motor with orthogonal cylinder structure for bionic eye |
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| CN 201220678092 CN203056800U (en) | 2012-12-10 | 2012-12-10 | Two-degree-of-freedom stepping motor with orthogonal cylinder structure for bionic eye |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102969849A (en) * | 2012-12-10 | 2013-03-13 | 山东大学 | Two-degree-of-freedom stepping motor with orthogonal cylinder structure for bionic eye |
| WO2020249061A1 (en) * | 2019-06-12 | 2020-12-17 | 北京航空航天大学 | Compact bionic eye device based on electromagnetically-driven rotating mechanism having two degrees of freedom |
-
2012
- 2012-12-10 CN CN 201220678092 patent/CN203056800U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102969849A (en) * | 2012-12-10 | 2013-03-13 | 山东大学 | Two-degree-of-freedom stepping motor with orthogonal cylinder structure for bionic eye |
| CN102969849B (en) * | 2012-12-10 | 2014-08-27 | 山东大学 | Two-degree-of-freedom stepping motor with orthogonal cylinder structure for bionic eye |
| WO2020249061A1 (en) * | 2019-06-12 | 2020-12-17 | 北京航空航天大学 | Compact bionic eye device based on electromagnetically-driven rotating mechanism having two degrees of freedom |
| US11888346B2 (en) | 2019-06-12 | 2024-01-30 | Beihang University | Compact bionic eye device based on two-degree-of-freedom electromagnetically-driven rotating mechanism |
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