CN206077197U - A kind of spherical structure two-freedom hybrid type stepping motor - Google Patents
A kind of spherical structure two-freedom hybrid type stepping motor Download PDFInfo
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- CN206077197U CN206077197U CN201621137877.6U CN201621137877U CN206077197U CN 206077197 U CN206077197 U CN 206077197U CN 201621137877 U CN201621137877 U CN 201621137877U CN 206077197 U CN206077197 U CN 206077197U
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Abstract
The utility model discloses a kind of spherical structure two-freedom hybrid type stepping motor, including the first freedom motor, the second freedom motor and output shaft, wherein, first freedom motor is the circular ring with a breach, second freedom motor is the circular ring with an opening, and the breach is adapted with opening so that the place plane of two motors is perpendicular orthogonal；First freedom motor, the second freedom motor include stator and rotor, and rotor can occur relative motion with stator in the place plane of affiliated motor, by two freedom motor each self-movements, realization is disposed therein the two-freedom motion of the output shaft on one degree of freedom motor.This utility model has that structure, manufacturing process are simple, analysis design is convenient, mechanical integrity is high, open loop operation positioning precision is high, drive control easily, performance test test easy advantage, be conducive to shortening R＆D cycle, the performance of improving product and the competitiveness of product.
Description
Technical field
This utility model is related to a kind of spherical structure two-freedom hybrid type stepping motor.
Background technology
Traditional multifreedom motion is often cooperated realization by multiple single dof mobilities.Multiple degrees of freedom actuating device
Constitute typically by the mechanical driving device of multiple stage single-degree-of-freedom driving element and complexity, so as to cause multiple degrees of freedom apparatus body
Product is huge, and precision is low, dynamic and static poor performance；And due to more application reduction gearing in device, result in rotary inertia
Increase the generation with non-linear friction, so as to increased the energy loss of actuating device, the gap of actuating device also reduces simultaneously
System stiffness, increased the unstability of system.With the high speed development of modern industry, machine industry is to actuating device
Precision requirement more and more higher, traditional multiple degrees of freedom actuating device can not meet industrial requirements.In order that multiple degrees of freedom
Transmission structures are simple, and motion is flexible, drive, control rapid and coordinate, and the development and application of multi-freedom electric motor are received
The extensive concern of Chinese scholars.
The research of multiple degrees of freedom motor can trace back to the 1950's, and period goes out in the fifties and the eighties respectively
Climax is studied after twice now.So far, the multiple degrees of freedom motor of research can be divided into both at home and abroad：How free selsyn formula is
Degree motor, vicariouss multiple degrees of freedom motor, magneto multiple degrees of freedom motor, ultrasound wave multiple degrees of freedom motor, combination
Formula multiple degrees of freedom motor etc., wherein magneto multiple degrees of freedom motor include DC multiple degrees of freedom motor, permanent magnetism step
Enter multiple degrees of freedom motor, reluctance type permanent magnetism multiple degrees of freedom motor, permanent-magnet synchronous multiple degrees of freedom motor.These multiple degrees of freedoms
The mentality of designing of traditional single-degree-of-freedom motor has been continued to use in the development of motor mostly.In numerous structures, spherical structure it is electronic
Machine due to its in kinesiology angle most beneficial for multi-dimensional movement, can space it is arbitrarily angled realize positioning, become the country
The study hotspot of outer scholar.Spherical motor can replace traditional multiple degrees of freedom actuating device, and having an advantage in that can be at one
The multifreedom motion of complexity is realized on motor, the complexity of mechanical driving device is greatly reduced, is reduced the body of device
Product and weight, improve the positioning precision and response speed of actuating device, reduce the energy loss of system, expanded motor
Range of application.Spherical motor is in robot, mechanical arm, electric top, antenna follower, machine tooling, panoramic shooting cloud
Suffer from being widely applied prospect in the equipment such as platform and robot bionic eyeball.
Initial multi-degree of freedom spherical motor theory be by Britain research scholar E.C.Williams and
E.P.Laithwaite put forward in nineteen fifty-nine, its purpose is to improve the speed adjusting performance of asynchronous motor.By 80 years
In generation, U.S., day, the researchers of De Deng states, are just concentrated on joint of robot motor, various joint electricity
The theory and spherical motor model of machine is just suggested in succession.At present, the research type of spherical motor can substantially be summarized as
Magnetic resistance type, permanent-magnet type, asynchronous type and double-fed spherical motor.Foreign countries are engaged in the main of spherical motor area research work
Have：State-run advanced Industrial Technology Research Institute of Japan, Georgia Institute of Technology of the U.S., Univ Sheffield UK, Aachen, Germany work
Sparetime university, Johns Hopkins University of the U.S., Nanyang Technological University.The state-run advanced Industrial Technology Research Institute's application of Japan
Spherical motor patent be according to the principle of plane magnetoresistive motor develop and come.Georgia Institute of Technology of the U.S. in 1987
G.J.Vanchtsevanos etc. describes a kind of three-winding vicariouss spherical motor, and it is spherical to propose variable reluctance first
The design philosophy of motor.Kok-Meng Lee in 1988 et al. further illustrate the design of magnetic resistance type spherical motor to be thought
Think, it is indicated that the shortcoming of vicariouss spherical motors, and point out the Three Degree Of Freedom reluctance stepper with common Single Degree of Freedom Magnetic
The difference of resistance motor.Univ Sheffield UK J.Wang in 1997 et al. developed have two-freedom or
The permanent magnet spherical motor of Three Degree Of Freedom, is mainly used in feedback, stereo visual system, high sensitivity and the reliability of power in stick
The fields such as the drivings of the multi-DOF platform of Complex Assembly system such as the joint of robot of property.1999, Aachen, Germany industry was big
Develop a kind of permanent-magnet type three degree of freedom spherical motor, and have extensively studied the row of permanent magnet spherical motor stator upper magnetic pole
The impact that row are produced to motor torque characteristic with placement.1999, Johns Hopkins University of U.S. S.Chirikjian etc. set
Meter have developed a kind of permanent magnetic spherical step motor, and the motor is noteworthy characterized by stator and the coverage of rotor is less than half
Rotor, so as to expand significantly the range of movement of rotor.2004, Nanyang Technological University Liang Yan et al. were developed
Permanent magnetism spherical dc motor has simultaneously built the experiment measuring table of spherical motor.For at present, external multiple degrees of freedom
Also there is certain distance apart from real commercialization still in the laboratory research stage in the research of spherical motor.
The domestic research to multi-degree of freedom spherical motor starts from the later stage eighties 20th century, starts late.Due to country
Relevant departments pay much attention to, and state natural sciences fund and 863 Program have subsidized the research project of this respect, promote domestic closing
Obtain developing faster in the research of spherical motor.Northwestern Polytechnical University, HUST, Zhejiang University, Harbin
The colleges and universities such as polytechnical university, HeFei University of Technology and University Of Tianjin have developed respective multi-degree of freedom spherical motor model machine, and
Relevant issues have been carried out with more in-depth study.Northwestern Polytechnical University Su Zhong fly et al. with brushless d. c spherical motor be
Research direction, made First model machine in 1989.1994, HUST's Huang Shenghua et al. have developed one three certainly
By spherical double-fed induction motor is spent, the three-dimensional magnetic field of the motor is calculated and is studied the problems such as control strategy.1993
Year, Zhejiang University's department of electrical engineering is all to be waited people quietly and have developed a kind of spherical motor of robot ball-joint two-freedom, and the motor is adopted
With the two-dimentional stepper motor structure of similar frame structure, formula motor is mixed by 2 five and constituted.1999, Ha Er
Shore polytechnical university have developed a kind of orthogonal column structure double air gaps of aspherical magnet steel Three Degree Of Freedom stepping motor altogether, belong to combination
Formula multiple degrees of freedom motor.Afterwards, the permanent magnetism that HeFei University of Technology Wang Qun capital et al. is proposed to Johns Hopkins University of the U.S.
Type spherical step motor is studied, and University Of Tianjin is applied to Halbach array on permanent magnet spherical motor, improves
The magnetic distribution of motor, makes air-gap field waveform closer to sinusoidal, improves the runnability of motor.
At present, the high-tech sector such as Industry Control and robot is watched to positioning and be performed in space any direction
The element demand for taking function grows with each passing day, higher more urgent so as to propose to the research of multi-degree of freedom spherical motor and application
Requirement.The work done by forefathers is made a general survey of, the species of spherical motor model machine is although more, but major part is not also very perfect,
Still in the laboratory research stage, also there is a certain distance away from practical application.Due to spherical motor structure and the spy of principle
Different property, is finally to realize its industrialization, commercialization, needs primary study and solves the problems, such as following aspect：
1. new principle model machine research and development and existing electric machine structure optimization design problem.According to different application occasion to spherical
The different requirements of motor, continue to develop the practical spherical motor using new operation principle, spherical electronic to extend
The species of machine, widens the range of application of spherical motor.Optimize existing spherical motor structure, make electric machine structure simple, be easy to
Manufacture, improves the mechanical integrity of motor, expands trochiterian range of deflection, and simplified support structure mitigates weight, reduces volume.
2. the computational problem of electromagnetic field and torque.As spherical motor is with complicated magnetic distribution, and mostly
For three dimensional field, the computational problem of further investigation spherical motor electromagnetic field is it requires, trial simplifies three dimensional field with two dimensional field
Calculate, so as to the solution for electromagnetic torque being carried out on the basis of two dimensional field, be that the Principle Demonstration and structure design of spherical motor is carried
For foundation.
3. Solution of Electromagnetic Field Penetration Problems.As multi-degree of freedom spherical electric motor structure integrated level is high, necessarily deposit between each degree of freedom
In complicated electromagnetic coupled relation.It is how quantitative to analyze these coupled relations and its impact to motor control performance, with
And how to be decoupled, it is key issue urgently to be resolved hurrily during spherical motor is studied.
4. motor manufacturing and process issues.Due to the planform of multi-degree of freedom spherical motor and the single of routine from
There is significant difference by degree cylinder motor, so many empirical equations and icon curve for conventional motor design are not suitable for
The design of spherical motor.Therefore, it is necessary to according to the concrete structure feature of spherical motor, sum up design of electrical motor experience public
Formula, for after, the optimization design of spherical motor provides reference.Further, since spherical motor complex structure, processes and is relatively stranded
Difficulty, so the research of spherical motor processing technique must also be paid attention to, improves the degree of accuracy of spherical motor processing.
5. spherical motor drive control problem.Spherical motor is typical electromechanical integrated product, its drive control
System not only will be detected to the angular displacement of each degree of freedom, speed, acceleration, output torque and stator coil, also real
Uneoupled control now between each degree of freedom, trajectory planning, it is therefore necessary to develop suitable for multi-degree of freedom spherical Motor Control
The special control components and parts of system simultaneously adopt computer controls, develop computer control system.
6. position is detected and positioning precision problem.To make spherical motor complete the positioning fortune of space sphere optional position
It is dynamic, realize the optimal path search of trajectory planning, must be requested that the three-dimensional position sensing system with high-resolution is realizing
The detection of rotor spherical surface position, and it is conceived to the resolving accuracy for improving detecting system, realize multi-degree of freedom spherical motor
Closed loop control.
Utility model content
This utility model is in order to solve the above problems, it is proposed that a kind of hybrid stepping of spherical structure two-freedom is electronic
Machine, the motor go in joint of robot and robot bionic eyeball, and this utility model is capable of achieving the open loop of motor
Position control, saves position sensor, even and if under open ring position control service condition, also can be by adopting Multi-level microstep
Circuit is powered and realizes higher positioning precision.And then driven machine person joint and robot bionic eyeball can be realized in certain model
Enclose any track motion of interior, certain precision lower edge, and it is more simpler than most traditional spherical motor structures, be easier to add
Work is manufactured, mechanical integrity is higher, rotor deflection scope bigger, volume is less, weight lighter, drive circuit more simplifies, control
Mode processed is more simple, operation flatness is more preferable.
To achieve these goals, this utility model is adopted the following technical scheme that：
A kind of spherical structure two-freedom hybrid type stepping motor, including the first freedom motor, the second degree of freedom electricity
Machine and output shaft, wherein, first freedom motor is the circular ring with a breach, second freedom motor
It is to be adapted with opening with a circular ring being open, and the breach so that the place plane of two motors is perpendicular
It is orthogonal；
First freedom motor, the second freedom motor include stator and rotor, and rotor with stator affiliated
Relative motion can occur in the place plane of motor, by two freedom motor each self-movements, realization is arranged on which
The two-freedom motion of the output shaft on middle one degree of freedom motor.
First freedom motor is identical with the second freedom motor structure, including rotor portion and stationary part,
Rotor portion includes the not magnetic conduction rotor field spider of cylinder, annular permanent magnet and is arranged on the annular of permanent magnet both sides laminating rotor
Iron core, is evenly arranged some little teeth on the outside of the rotor core；Stationary part includes arc laminating stator cores and stator winding,
Stator core inner circumferential is distributed with magnetic pole, and stator winding is provided with interpolar groove, and the little tooth of stator is distributed with the pole shoe of magnetic pole.
The permanent magnet, rotor core and magnetic conduction rotor field spider is not provided with the opening of formed objects, permanent magnet and rotor
Iron core is sleeved on not magnetic conduction rotor field spider so that the aperture position alignment of three.
If the stator core is provided with dry bearing and bearing holder (housing, cover) axle, all bearings of each freedom motor and bearing holder (housing, cover) axle
Central axis be located at same cylindrical plane, bearing and not the mechanical engagement mode between magnetic conduction rotor field spider be interference fit.
Mutual wrong 1/2 tooth pitch of little tooth in the two ends rotor core of the rotor portion.
The tooth pitch of the little tooth of the stator is identical with the little tooth tooth pitch of rotor.
The stator core radian is more than 180 °, and is less than rotor core radian.
A certain size air gap separation is provided between the frame bore and rotor core external diameter.
The stator and rotor central axis of the stator and rotor central axis and the second freedom motor of first freedom motor
Perpendicular quadrature, the centre of sphere of the intersection point for spherical motor.
The stator core of first freedom motor is maintained static by base, and rotor portion passes through bearing and not magnetic conduction
Rotor field spider is rotated around stationary part；
The overall rotor portion synchronous axial system with the first freedom motor of second freedom motor, pivot center and the
The stator and rotor central axes of single-degree-of-freedom motor, the stationary part of the second freedom motor turn around the rotor portion of itself
Dynamic, pivot center is orthogonal with the stator and rotor central axis upright of the first freedom motor.
The stator winding is concentratred winding, is wrapped on the magnetic pole of stator core, and same phase stator winding is wrapped in phase
On two adjacent magnetic pole of the stator and coiling is in opposite direction, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle,
Two magnetic pole of the stator that adjacent biphase stator winding with identical coiling direction is located mutually stagger (j+0.5/m) θrMechanical angle
Degree, k and j are positive integer and k<J, m be the winding number of phases, θrFor rotor tooth elongation.
In motor rotation process, the constant distance of output shaft terminal point to the centre of sphere is constant, i.e. output shaft terminal point
Running orbit be always positioned on same sphere, running orbit scope is limited to the extreme rotational angle model of two freedom motors
Enclose.
The number of the stator winding is adapted with the number of phases of motor.
A kind of joint of robot, specifically includes above-mentioned spherical structure two-freedom hybrid type stepping motor.
A kind of robot bionic eyeball, including above-mentioned spherical structure two-freedom hybrid type stepping motor.
Utility model works principle：For the first freedom motor, 1 Jing annular permanent magnet → mono- section of permanent magnet flux Φ turns
The rotor core of sub- iron core → air gap → stator core → air gap → another section → annular permanent magnet forms closed-loop path, when stator around
Group is when being powered in certain sequence, and motor works in hybrid type stepping motor state, and the rotor of the first freedom motor is together with the
Stator and rotor central axis of the overall stator relative to the first freedom motor of two-freedom degree electric machine around the first freedom motor
(it is assumed that X-axis) is rotated, and makes output shaft realize swinging around X-direction.For the second freedom motor, 2 Jing rings of permanent magnet flux Φ
Shape permanent magnet → mono- section rotor core → air gap → stator core → air gap → another section of rotor core → annular permanent magnet is formed
Closed-loop path, when stator winding is powered in certain sequence, motor equally works in hybrid type stepping motor state, and second certainly
By degree motor stator relative to the second freedom motor rotor around the second freedom motor stator and rotor central axis (with X
Axle perpendicular quadrature, it is assumed that for Y-axis) rotate, make output shaft realize swinging around Y direction.By suitably giving the first freedom motor
It is powered with the second freedom motor, output shaft can be made to realize making two-freedom motion around X-axis and Y-axis within the specific limits.
The respective motion of two freedom motors of this utility model makes the track of output shaft end operation regard the earth respectively as
Warp and parallel on instrument.In the middle of actual, the motion of two freedom motors be all certain extreme rotational angular range it
It is interior, you can to think that output shaft can be in the range of one section of sphere that maximum longitude warp and maximum dimension parallel are surrounded with one
Determine precision to move along arbitrary trajectory.Therefore, as long as the motion model of the joint of robot of actual requirement or robot bionic eyeball
Within the scope of being trapped among one section of sphere that above-mentioned maximum meridian and maximum latitude line are surrounded, then this utility model can drive joint
Or eyeball is moved along arbitrary trajectory with certain precision in claimed range.
The beneficial effects of the utility model are：
1. new operation principle and electric machine structure are adopted, the species of multi-degree of freedom spherical motor, electromechanics is extended
Integrated level and stock utilization are higher, and the range of deflection of output shaft is larger, can meet or exceed ± 45 °, supporting construction compared with
For simple, the practical of spherical motor, lightweight and small size are advantageously implemented.
2. the electromagnetic field and Analysis on Torque for simplifying motor is calculated.First freedom motor of the present utility model and second is certainly
Hybrid type stepping motor is by degree motor, and the electromagnetic field and torque calculation that are directed to hybrid type stepping motor are a large amount of
Analysis and research, and Three-Dimensional Field Calculation can be simplified using two dimensional field, be that the Proof-Of Principle and structure design of motor brings pole
It is big convenient.
3. Solution of Electromagnetic Field Penetration Problems is solved.First freedom motor of the present utility model and the second freedom motor are to pass through
Magnetic conduction rotor field spider is not fixed together, thus both in terms of electromagnetism be it is separate, between there is no electromagnetic coupled
Relation, the electromagnetism that greatly simplify motor are calculated and performance evaluation, solve the key issue in spherical motor research process.
4. motor manufacturing and processing technique are simplified.Two freedom motors of the present utility model are mutual in terms of electromagnetism
Independent, Electromagnetic Design can be individually carried out for each freedom motor, thus it is many electronic for conventional hybrid stepping
The empirical equation and diagram curve of machine design is applied to this utility model, and two freedom motors of the present utility model can in addition
To be manufactured respectively and be processed, assembled after machining, therefore manufacture and processing technique can be simplified, it is ensured that be every
The machining accuracy of individual freedom motor, the machining accuracy overall so as to improve spherical motor.
5th, simplify the driving control system of motor.Two freedom motors of the present utility model work in hybrid step
Enter electric motor state and separate, therefore the electric current subdivision drive control method suitable for hybrid type stepping motor can be adopted
Two freedom motors are individually driven and are controlled, the uneoupled control between two degree of freedom is realized, is convenient for rail
Mark is planned and control algolithm research, additionally, using ripe integrated subdivision drive control circuit, enormously simplify drive control
The development of system, is easy to develop computer control system, improves control and drives integration, integration degree.
6th, open ring position control is capable of achieving, position sensor is saved, and opened loop control positioning precision is higher.This utility model
Two freedom motors work in hybrid type stepping motor state and separate, therefore open ring position can be carried out respectively
Control, the height of opened loop control positioning precision depend on the step angle size of each freedom motor, and hybrid stepping is electronic
The advantage of machine is can to improve positioning precision using electric current subdivision drive method under the conditions of opened loop control, and electric current high-subdividing number is got over
Greatly, positioning precision is higher, therefore can meet different positioning accuracy requests by changing electric current high-subdividing number.
7th, it is convenient that performance test and experimentation are carried out to motor.On the one hand, two freedom motors of the present utility model
It is separate, therefore performance test and experimentation can be carried out respectively.On the other hand, experiment survey is carried out to each freedom motor
During examination, the test prototype in rotor portion (including permanent magnet, rotor core and not magnetic conduction rotor field spider) imperforation region can be constructed,
Test prototype is compared to original motor dimensional structure parameter constant but can carry out rotating more than 360 °, and can pacify on test prototype
Dress rotating shaft so that the performance test and experiment research for conventional motor may be directly applied to test prototype.
As can be seen that spherical structure two-freedom hybrid type stepping motor of the present utility model and traditional multiple degrees of freedom
Spherical motor compare with structural principle it is simple, mechanical integrity is high, design convenience of calculation, processing and manufacturing easily, drive control
Mode processed is simple, be capable of achieving opened loop control and the high advantage of opened loop control positioning precision, be promote spherical motor it is practical,
Industrialization, commercialization provide new thinking and solution.
Description of the drawings
Fig. 1 is overall structure figure of the present utility model；
Fig. 2 is the first freedom motor overall structure figure of the present utility model；
Fig. 3 is the second freedom motor overall structure figure of the present utility model；
Fig. 4 is the first freedom motor structure decomposition figure of the present utility model；
Fig. 5 is the second freedom motor structure decomposition figure of the present utility model；
Fig. 6 (by taking 2 phase motors as an example, is schemed for each winding wiring figure of stator winding of the first freedom motor of this utility model
Middle "×" represents the vertical paper of winding direction inwards, and " " represents that the vertical paper of winding direction is outside)；
Stator winding each winding wiring figures of the Fig. 7 for the second freedom motor of this utility model (by taking 2 phase motors as an example)；
Fig. 8 is the first freedom motor extreme rotational angle schematic diagram of the present utility model；
Fig. 9 is the second freedom motor extreme rotational angle schematic diagram of the present utility model；
Figure 10 is output shaft terminal point running orbit scope schematic diagram of the present utility model；
Stator winding each winding wiring figures of the Figure 11 for the first freedom motor of this utility model (by taking 3 phase motors as an example)；
Stator winding each winding wiring figures of the Figure 12 for the second freedom motor of this utility model (by taking 3 phase motors as an example)；
The experiment test model machine overall structure figure (stators of test prototype of the Figure 13 for the first freedom motor of this utility model
Each winding wiring mode such as Fig. 6 of winding)；
The experiment test model machine overall structure figure (stators of test prototype of the Figure 14 for the second freedom motor of this utility model
Each winding wiring mode such as Fig. 7 of winding)；
In figure, 1. the first freedom motor, 2. the second freedom motor, 3. output shaft, 4. base, 5. stator core, 6.
Not magnetic conduction rotor field spider, 7. rotor core, 8. permanent magnet, 9. bearing, 10. bearing holder (housing, cover) axle, 11. stator winding, 12. output shafts end
End end points running orbit place sphere, 13. 45 ° of east longitude warps, 14. 45 ° of south latitude parallels, 15. 45 ° of west longitude warps, 16. north latitude
45 ° of parallels, 17. first freedom motor test prototype rotating shafts, 18. second freedom motor test prototype rotating shafts.
Specific embodiment：
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
A kind of spherical structure two-freedom hybrid type stepping motor, when this utility model mixes as biphase two-freedom
During formula stepping motor, motor overall structure is as shown in figure 1, including the first freedom motor 1, the second freedom motor 2, output
Axle 3 and base 4, as shown in Figure 2 and Figure 3.Electric machine structure exploded view shown in Fig. 4, Fig. 5, each freedom motor include
Rotor portion and stationary part, rotor portion include the not magnetic conduction rotor field spider 6, annular permanent magnet 8 of cylinder and its both sides
Two sections of annulars laminate rotor core 7, and some little teeth are evenly arranged on the outside of rotor core 7, and the little tooth on two-stage rotor iron core 7 is mutually wrong
1/2 tooth pitch, permanent magnet 8, rotor core 7 and magnetic conduction rotor field spider 6 is not provided with the opening of formed objects, permanent magnet 8 and rotor
Unshakable in one's determination 7 are sleeved on not magnetic conduction rotor field spider 6 so that the aperture position alignment of three；Stationary part includes arc laminating stator
Unshakable in one's determination 5, bearing 9, bearing holder (housing, cover) axle 10 and stator winding 11, the radian of stator core 5 more than 180 °, but less than rotor core 7
Radian, 5 inner circumferential of stator core are distributed with magnetic pole, be provided with stator winding 11, be distributed with and rotor on the pole shoe of magnetic pole in interpolar groove
The little tooth of little tooth tooth pitch identical stator；The stator core 5 of described two freedom motors is provided with bearing 9 and bearing holder (housing, cover) axle 10,
The central axis of all bearings 9 of each freedom motor and bearing holder (housing, cover) axle 10 is located at same cylindrical plane, and bearing 9 is turned with not magnetic conduction
Mechanical engagement mode between submounts 6 is interference fit；Rotor core 7 and permanent magnet 8 are by not magnetic conduction rotor field spider 6, axle
Hold 9, bearing holder (housing, cover) axle 10 to be fixed together with stator core 5, between 7 external diameter of 5 internal diameter of stator core and rotor core, be provided with certain
Size air gap separation；The stator core 5-1 of first freedom motor 1 is fixed with base 4, and second freedom motor 2 is determined
Sub- iron core 5-2 centers are provided with output shaft 3, and output shaft 3 can connect load equipment.
The inside and outside footpath of described two freedom motor rotor cores 7 is identical, the rotor core 7 of two motors and permanent magnet 8
It is fixed together by not 6 perpendicular quadrature of magnetic conduction rotor field spider so that the stator and rotor central axis X axle of the first freedom motor 1
With the stator and rotor central axis Y-axis perpendicular quadrature of the second freedom motor 2, the centre of sphere of the intersection point for spherical motor；
The diameter of 6 central cylindrical portion of not magnetic conduction rotor field spider and both sides column part respectively with rotor core 7
Internal diameter is identical with external diameter, and 6 both sides column part surface of magnetic conduction rotor field spider is not smooth, can provide sliding rail for bearing 9.
This utility model realizes that two-freedom operation logic is as follows：As shown in Fig. 4, Fig. 6, first freedom motor 1 is determined
Subdivision (including stator core 5-1, bearing 9-1, bearing holder (housing, cover) axle 10-1 and stator winding 11-1,11-2,11-3,11-4) passes through
Base 4 is maintained static, when biphase stator winding is powered by the order of (+A)-(+B)-(- A)-(- B), rotor portion (bag
Include not magnetic conduction rotor field spider 6-1 and 6-2, rotor core 7-1 and 7-2, permanent magnet 8-1) can be turned about the X axis by bearing 9-1, and
And output shaft 3 and the second freedom motor 2 can be driven to turn about the X axis, as shown in Figure 1.On this basis, when the second degree of freedom
The biphase stator winding of motor 2 is led to by the order of (+A)-(+B)-(- A)-(- B) (including 11-5,11-6,11-7,11-8)
When electric, the stationary part of the second freedom motor 2 (includes stator core 5-2, bearing 9-2, bearing holder (housing, cover) axle 10-2 and stator winding
11-5,11-6,11-7,11-8) can be rotated around Y-axis by bearing 9-2, and drive output shaft 3 to rotate around Y-axis, such as Fig. 5, Fig. 7 institute
Show.Therefore, output shaft 3 can be rotated rotating around X-axis, Y-axis in the case where the first freedom motor 1, the second freedom motor 2 drive, and
And the motion of two freedom motors is separate, so as to realize that two-freedom is moved.As X-axis and Y-axis are hung down all the time in space
Straight orthogonal, position of intersecting point is constant and for the centre of sphere of integral spherical motor, and the central axis of output shaft 3 passes through the centre of sphere, therefore
In motor rotation process, 3 terminal point of output shaft is constant to the constant distance of the centre of sphere, i.e. the operation of 3 terminal point of output shaft
Track is always positioned on same sphere 12, and running orbit scope is limited to the extreme rotational angular range of two freedom motors.
Wherein, the θ in the extreme rotational angle of the first freedom motor 1 such as Fig. 81It is shown, the extreme rotational angle of the second freedom motor 2
θ in degree such as Fig. 92It is shown.With two freedom motor extreme rotational angle, θs1=θ2=45 °, step angle (every step run one
The mechanical angle that turns over of step) as a example by 1.8 °, the operation area of 3 terminal point of output shaft is included in 45 ° of warps 13 of east longitude just, south
45 ° of parallels 14 of latitude, 45 ° of parallels 15 of west longitude, within the scope of the spherical area surrounded by 45 ° of parallels 16 of north latitude, as shown in Figure 10, this
Dot matrix in the range of one spherical area is all positions in space that 3 terminal point of output shaft can reach.As seen from Figure 10,
The step angle of motor is less, then in dot matrix, adjacent 2 points of spherical distance is nearer, represents the positioning precision of 3 terminal point of output shaft
It is higher.In the middle of actual, generally adopt electric current Multi-level microstep mode (hybrid type stepping motor adopt electric current Multi-level microstep mode for
Prior art, is general knowledge known in this field) to reduce step angle, and electric current high-subdividing number is bigger, and step angle is less, positioning precision
It is higher.For example, when using 64 electric current Multi-level microstep, step angle can be reduced to 1.8 °/64, and about 0.03 °, this is in open loop operation
Under the conditions of be very high positioning precision.
This utility model is typically used as biphase and three phase motor structure, and Fig. 6, Fig. 7 are that this utility model is used as biphase electricity
Stator winding wiring schematic diagram during motivation, Figure 11, Figure 12 are that stator winding when this utility model is used as threephase motor connects
Line schematic diagram.Stator winding 11 is concentratred winding, is wrapped on the magnetic pole of stator core 5, and same phase stator winding is wrapped in phase
On two adjacent magnetic pole of the stator and coiling is in opposite direction, A phase stator winding 11-1, the 11-2 in such as Fig. 6 is fixed with the A phases in Figure 11
Shown in sub- winding 11-9,11-10, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle；With identical coiling
Two magnetic pole of the stator that the adjacent biphase stator winding in direction is located mutually stagger (j+0.5/m) θrMechanical angle.Wherein, k and j
For positive integer and k<J, m be the stator winding number of phases, θrFor rotor tooth elongation (mechanical angle), the selection of k and j need to ensure adjacent two
A certain size space is left between individual magnetic pole of the stator, stator winding is embedded to facilitate.For example, the A phase stator winding in Fig. 6
Two magnetic pole of the stator that 11-1 and 11-2 are located mutually stagger (6+0.5) θr(θr=7.2 °), A phase stator winding 11-1 are fixed with B phases
Two magnetic pole of the stator that sub- winding 11-3 is located mutually stagger (13+0.5/2) θr；A phase stator winding 11-9 and 11- in Figure 11
10 two magnetic pole of the stator being located mutually stagger (4+0.5) θr(θr=7.2 °), A phase stator winding 11-9 and B phase stator winding
Two magnetic pole of the stator that 11-11 is located mutually stagger (9+0.5/3) θr。
It is embodied in easily compared to one of the multi-degree of freedom spherical motor of traditional structure, significant advantage of the present utility model
Construction test prototype simultaneously carries out performance test and experimentation, and this is shortening this utility model from product Preliminary design to product
Can lay a good foundation the perfect R＆D cycle, be conducive to promoting the practical of this utility model product, industrialization and commercialization to enter
Journey.The building method and performance of this utility model test prototype are illustrated with reference to Fig. 1, Fig. 2, Fig. 3, Figure 13, Figure 14
Test and experiment research.This utility model motor overall (such as Fig. 1) can split into separate two freedom motor,
That is the first freedom motor 1 (such as Fig. 2) and the second freedom motor 2 (such as Fig. 3), and test prototype can be constructed respectively and carried out
Experiment test.Wherein, as shown in figure 13 for the test prototype of the construction of the first degree of freedom 1, specific configuration method is as follows：(1) protect
Hold under the dimensional structure permanence condition of the first freedom motor 1, the open area of its rotor portion is supplemented into complete so that rotor
Part becomes complete column structure；(2) add spindle portion (can be double shafts or single shaft) in rotor portion center.Pin
As shown in figure 14 to the test prototype of the construction of the second degree of freedom 2, specific configuration method is as follows：(1) keep the second freedom motor 2
Dimensional structure permanence condition under, the open area of its rotor portion is supplemented into complete so that rotor portion becomes complete cylinder
Structure, while will be designed on the outside of its stator core 5-2 yokes portion outer with 1 stator core 5-1 yokes portion of the first freedom motor
Side identical shape；(2) add spindle portion (can be double shafts or single shaft) in rotor portion center；(3) in stator
Mounting seat 4 on 5-2 unshakable in one's determination.For the test prototype of two freedom motors, when biphase stator winding by (+A)-(+B)-
When the order of (- A)-(- B) is powered, model machine can be rotated as common hybrid type stepping motor, thus can be carried out one and be
Row performance test and experimentation, mainly include：(1) no load test, the anti-electricity of zero load of the metrical prototype under certain rotating speed are carried out
Kinetic potential, to verify the accuracy and reasonability of model machine zero load Electromagnetic Design；(2) static load experiment, the square of metrical prototype are carried out
Angle characteristic, to verify the accuracy and reasonability of static torque design under model machine loading condition；(3) steady state load experiment is carried out,
The torque frequency feature of metrical prototype, obtains Changing Pattern of the model machine torque with rotating speed, to determine the optimum operation range of speeds of model machine；
(4) electric motor starting experiment, the maximum starting frequency of zero load and load of metrical prototype, to determine the starting speed model of model machine are carried out
Enclose；(5) open loop operation positioning precision test experiments are carried out, by encoder or angular transducer are installed in model machine rotating shaft, can
Angular values (multigroup measurement can be carried out in the case of different loads) with metrical prototype actual rotation, by this measured value with open
Theoretical values (driver exports total umber of pulse and is multiplied by model machine step angle) under ring control service condition are compared, Ke Yijin
Row error analyses, so that it is determined that the open loop operation positioning precision of model machine.
It is although the above-mentioned accompanying drawing that combines is described to specific embodiment of the present utility model, not new to this practicality
The restriction of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Various modifications or deform still in protection model of the present utility model that field technique personnel are made by need not paying creative work
Within enclosing.
Claims (10)
1. a kind of spherical structure two-freedom hybrid type stepping motor, is characterized in that：Including the first freedom motor, second from
By degree motor and output shaft, wherein, first freedom motor is the circular ring with a breach, and described second freely
Degree motor is to be adapted with opening with a circular ring being open, and the breach so that the place plane of two motors
It is perpendicular orthogonal；
First freedom motor, the second freedom motor include stator and rotor, and rotor and stator in affiliated motor
Place plane in relative motion can occur, by two freedom motor each self-movements, realization is disposed therein one
The two-freedom motion of the output shaft on individual freedom motor.
2. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 1, is characterized in that：Described first
Freedom motor is identical with the second freedom motor structure, and including rotor portion and stationary part, rotor portion includes cylinder
The not magnetic conduction rotor field spider of shape, annular permanent magnet and it is arranged on the annular of permanent magnet both sides and laminates rotor core, the rotor ferrum
Some little teeth are evenly arranged on the outside of the heart；Stationary part includes arc laminating stator cores and stator winding, stator core inner circumferential point
Magnetic pole is furnished with, stator winding in interpolar groove, is provided with, the little tooth of stator on the pole shoe of magnetic pole, is distributed with.
3. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：The permanent magnetism
Body, rotor core and magnetic conduction rotor field spider is not provided with the opening of formed objects, permanent magnet and rotor core are sleeved on not magnetic conduction
On rotor field spider so that the aperture position alignment of three.
4. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：The rotor
Mutual wrong 1/2 tooth pitch of little tooth in partial two ends rotor core.
5. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：The stator
The tooth pitch of little tooth is identical with the little tooth tooth pitch of rotor.
6. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：The stator
Radian unshakable in one's determination is more than 180 °, and is less than rotor core radian；
A certain size air gap separation is provided between the frame bore and rotor core external diameter.
7. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 1, is characterized in that：Described first
The stator and rotor central axis of freedom motor is orthogonal with the stator and rotor central axis upright of the second freedom motor, and intersection point is ball
The centre of sphere of shape motor.
8. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 1, is characterized in that：Described first
The stator core of freedom motor is maintained static by base, rotor portion pass through bearing and not magnetic conduction rotor field spider around stator department
The component of rotation；
The overall rotor portion synchronous axial system with the first freedom motor of second freedom motor, pivot center and first is certainly
By the stator and rotor central axes of degree motor, the stationary part of the second freedom motor is rotated around the rotor portion of itself, is turned
Shaft line is orthogonal with the stator and rotor central axis upright of the first freedom motor.
9. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 2, is characterized in that：The stator
Winding is concentratred winding, is wrapped on the magnetic pole of stator core, and same phase stator winding is wrapped in adjacent two magnetic pole of the stator
Upper and coiling is in opposite direction, this two neighboring magnetic pole of the stator mutually staggers (k+0.5) θrMechanical angle, with identical coiling direction
Two magnetic pole of the stator being located of adjacent biphase stator winding mutually stagger (j+0.5/m) θrMechanical angle, k and j are positive integer
And k<J, m be the winding number of phases, θrFor rotor tooth elongation.
10. a kind of spherical structure two-freedom hybrid type stepping motor as claimed in claim 1, is characterized in that：In motor
In rotation process, the constant distance of output shaft terminal point to the centre of sphere is constant, i.e., the running orbit of output shaft terminal point is all the time
On same sphere, running orbit scope is limited to the extreme rotational angular range of two freedom motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621137877.6U CN206077197U (en) | 2016-10-19 | 2016-10-19 | A kind of spherical structure two-freedom hybrid type stepping motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621137877.6U CN206077197U (en) | 2016-10-19 | 2016-10-19 | A kind of spherical structure two-freedom hybrid type stepping motor |
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| Publication Number | Publication Date |
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| CN206077197U true CN206077197U (en) | 2017-04-05 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341025A (en) * | 2016-10-19 | 2017-01-18 | 山东大学 | Two-degree-freedom mixed type stepping motor with spherical structure and application thereof |
| CN108462346A (en) * | 2018-02-09 | 2018-08-28 | 河北科技大学 | A kind of hybrid-driven three-degree-of-freedom motion motor |
| WO2021035985A1 (en) * | 2019-08-23 | 2021-03-04 | 广东美的生活电器制造有限公司 | Rotor, electric motor, electric motor assembly, food processor, and air supply device |
-
2016
- 2016-10-19 CN CN201621137877.6U patent/CN206077197U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341025A (en) * | 2016-10-19 | 2017-01-18 | 山东大学 | Two-degree-freedom mixed type stepping motor with spherical structure and application thereof |
| CN108462346A (en) * | 2018-02-09 | 2018-08-28 | 河北科技大学 | A kind of hybrid-driven three-degree-of-freedom motion motor |
| WO2021035985A1 (en) * | 2019-08-23 | 2021-03-04 | 广东美的生活电器制造有限公司 | Rotor, electric motor, electric motor assembly, food processor, and air supply device |
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