CN206117467U - Two degrees of freedom of non - spherical orthohormbic structure hybrid step motor - Google Patents
Two degrees of freedom of non - spherical orthohormbic structure hybrid step motor Download PDFInfo
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- CN206117467U CN206117467U CN201621135455.5U CN201621135455U CN206117467U CN 206117467 U CN206117467 U CN 206117467U CN 201621135455 U CN201621135455 U CN 201621135455U CN 206117467 U CN206117467 U CN 206117467U
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Abstract
The utility model discloses a two degrees of freedom of non - spherical orthohormbic structure hybrid step motor, this motor includes the base, installs the 1st degree of freedom motor on the base, the pivot of the 1st degree of freedom motor is half -cylinder, should change the stator core external diameter that the outside diameter of shaft is greater than the 2nd degree of freedom motor, and the plane of this pivot side is opened and is had the notch for the 2nd degree of freedom motor is whole to be inlayed in the notch, the pivot of the 2nd degree of freedom motor is equipped with the output shaft on for complete cylinder type and this pivot, the pivot the central axis of the 1st degree of freedom motor is located on the horizontal plane and establishes the axle into X, and the pivot the central axis and the X axle perpendicular of the 2nd degree of freedom motor, the pivot the central axis of the 2nd degree of freedom motor are as the Y axle, and it is whole around the rotation of X axle in certain extent that the pivot of the 1st degree of freedom motor drives the 2nd degree of freedom motor, the axis and the Y axle perpendicular of output shaft realize two degrees of freedom motion of output shaft.
Description
Technical field
This utility model belongs to electric motors, more particularly to a kind of hybrid stepping of aspherical orthohormbic structure two-freedom
Motor.
Background technology
Multiple degrees of freedom motor refers to two or three rotary freedoms, can bypass the spatial axis rotation of fixed point
Motor.The features such as it has high mechanical integrity, electric motor structure material and high driving control system element utilization rate, in tool
In having the mechanical system of multiple freedoms of motion, multiple degrees of freedom motor can replace two or multiple stage single-degree-of-freedom it is electronic
Machine, can greatly simplify the structure of mechanical system, reduce volume and weight, so as to improve the precision and dynamic property of system, carry
High performance price ratio.Therefore multiple degrees of freedom motor is in robot, multi-coordinate machining center, aerospace craft, electronic top
Spiral shell instrument, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medical apparatus and instruments, camera operation platform, panoramic shooting operating board, stirring
Machine, globe valve etc. are with a wide range of applications in the equipment with multiple freedoms of motion.
The research origin of multiple degrees of freedom motor has arrived the eighties mid-term in the fifties, space technology, robot and
Developing rapidly for automatic technology, promotes the development of multiple degrees of freedom motor research, various operation principles and different structure
Multiple degrees of freedom motor emerges in an endless stream, and which is studied also into climax stage.Early 1950s, are to improve induction electric
The speed adjusting performance of machine, Britain E.C.Williams et al. have developed a kind of spherical induction conductivity of speed change, the rotor of the motor
All it is movable, it may be said that be the blank of multi-freedom electric motor.At the same time, the former Russian scholar develops a kind of selsyn principle
3-degree-of-freedom electrical machine.It is at low ebb until the initial stage eighties, the research of multiple degrees of freedom motor from hereafter, mainly study into
Fruit has a spherical winding motor patent of N.S.Bers, the spherical motor pump patent of I.Laing and N.Laing, and spherical
Application of the motor in terms of gyro.Promote more certainly into developing rapidly for the eighties in 20th century, robot and space technology
By the development of degree motor research, while the appearance of motor new material and the raising of manufacturing technology level, electric machine theory and automatically
The deep and Power Electronic Technique of control theory research and developing rapidly for computer technology, are multiple degrees of freedom motor body
Manufacture and its realization of driving control system are there is provided favourable condition.Hereafter, the research of the ground scholar such as the U.S., Japan and Europe
Work is very active, and the multiple degrees of freedom motor of various operation principles and different structure emerges in an endless stream, and has France than more typical
The spherical induction conductivity of outer rotor two-freedom developed of A.Foggia et al., U.S. G.J.Vanchtsevanos et al. grinds
Spherical step motor that the three degree of freedom spherical induction conductivity of system, U.S. Kok-Meng Lee et al. are developed, A.R.Miles
Et al. the Three Degree Of Freedom developed of the spherical motor of two-freedom of three-phase selsyn principle developed, the K.Kaneko et al. of Japan
Frame structure two-freedom motor that spherical DC servo-motor, NEC Jing Qi companies propose etc..
Research of the China to multiple degrees of freedom motor starts from the later stage eighties 20th century, although start late, but country has
GUAN spot door is paid much attention to, 863 Program and state natural sciences fund all subsidized multiple degrees of freedom motor in terms of research project.
Main results have Northwestern Polytechnical University to have developed a kind of three degree of freedom spherical dc motor, and HUST have developed
One three degree of freedom spherical induction conductivity, Zhejiang University are free based on the frame structure two that NEC Jing Qi companies propose
Degree motor principle have developed a kind of orthohormbic structure two-freedom hybrid type stepping motor for robot ball-joint, Ha Er
Shore polytechnical university have developed a kind of orthogonal column structure two-freedom motor, and Shandong University have developed a kind of for driving
The bionical eyeball two-freedom hybrid type stepping motor of robot bionic eyeball.
The work done by forefathers is made a general survey of, the species of Level Multiple Degree of Freedom Structures motor model machine is although more, but major part is also not
It is very perfect, still in the laboratory research stage, also there is a certain distance away from practical application.Wherein, traditional spheroidal structure
Multiple degrees of freedom motor is manufactured and processing technique is relatively difficult, and motor control system is excessively complicated, it is necessary to which installation site is examined
Device is surveyed to constitute closed loop control, so as to realize being accurately positioned for output shaft, causes motor overall volume and weight larger；Base
More ripe with processing technique in the two-freedom motor manufacture of orthohormbic structure, motor can be controlled using open loop approach
System, so as to eliminating position sensor, simplifying control system, reduce motor overall volume and weight, but still suffers from
A series of insoluble problems, for example：
1. the orthogonal column structure two-freedom motor schematic diagram that Fig. 1 is developed for Harbin Institute of Technology, the motor
It is made up of the 1st freedom motor 1,2DOF motor 2, output shaft 3 and positive base 4, wherein, the 1st freedom motor 1 works
In hybrid type stepping motor state, step angle is little, open loop positioning precision high, and 2DOF motor 2 works in magneto stepping
Electric motor state, step angle is big, open loop positioning precision is low, therefore two-freedom motor entirety positioning precision is poor.
2. Fig. 2 is the orthohormbic structure two-freedom hybrid type stepping motor schematic diagram that Zhejiang University develops, and Fig. 3 is Shandong
The bionical eyeball two-freedom hybrid type stepping motor schematic diagram that university develops, both of which is by the 1st freedom motor the 1, the 2nd
Freedom motor 2, output shaft 3 and positive base 4 are constituted, and the 1st freedom motor 1,2DOF motor 2 works in mixing
Formula stepping motor state, step angle is little, open loop positioning precision high, as 2DOF motor 2 adopts special non-cylindrical
Structural electromotor, can produce the out-of-balance force of mechanical aspects under the influence of Asymmetric Electric magnetic torque and gravity, cause in rotation process
Motor is disturbed, and motor may be caused when serious normally cannot to run.
3., from Fig. 1, Fig. 2, Fig. 3, the 1st freedom motor external diameter of conventional orthogonal structure two-freedom motor is little
In 2DOF motor internal diameter, that is, (usually complete column structure motor, needs to play the 1st freedom motor of main driving effect
2DOF motor and load movement are driven simultaneously) small machine structure is used, and play secondary driving effect the 2nd is free
Degree motor (complete or partial cylinder structural electromotor, only need driving load to move) uses big electric machine structure, and the 1st degree of freedom
The increase of motor volume and torque is limited by 2DOF motor size, and this is present in motor construction reasonability
Some problems.
4., from Fig. 1, Fig. 2, the 1st freedom motor both ends of this two kinds of structure two-freedom motor and the 2nd are certainly
There is segment space by degree motor internal to be underutilized, this reduces two-freedom motor entirety to a certain extent
Mechanical integrity, increased motor overall volume.
Utility model content
In order to solve the shortcoming of prior art, the first purpose of the present utility model is to provide a kind of aspherical orthohormbic structure two
Degree of freedom hybrid type stepping motor.The aspherical orthohormbic structure two-freedom hybrid type stepping motor includes：Base, base
On the 1st freedom motor is installed, the rotating shaft of the 1st freedom motor is semicircle column type, and the external diameter of the rotating shaft is more than the 2nd freely
The stator core external diameter of degree motor, and the planar side of the rotating shaft is provided with notch so that 2DOF motor can integrally be embedded
Inside notch；The rotating shaft of 2DOF motor is for complete column type and the rotating shaft is provided with output shaft；
The spindle central axis of the 1st freedom motor is located on horizontal plane and is set to X-axis, the rotating shaft of 2DOF motor
Central axis and X-axis perpendicular quadrature, then the spindle central axis of 2DOF motor is used as Y-axis, and the 1st freedom motor turns
Axle drives 2DOF motor integrally to be rotated around X-axis within the specific limits；
The axis of output shaft also with Y-axis perpendicular quadrature, output shaft again under the effect of 2DOF motor Y-axis in certain model
Interior rotation is enclosed, the two-freedom motion of output shaft is finally realized.
Further, the 1st freedom motor includes the 1st freedom motor rotor portion and the 1st freedom motor stator department
Point, what the 1st freedom motor rotor portion included the first permanent magnet and its both sides laminates the first rotor iron core and the second rotor ferrum
Core；
1st freedom motor stationary part includes the first stator winding and the first stator core for laminating and the second stator ferrum
Core, one end of the first stator core are connected with base, and the other end is connected with the bearing of the 1st freedom motor；1st freedom motor
Rotor portion central axis is provided with the rotating shaft of the 1st freedom motor so that rotor portion is fixedly set in rotating shaft, corresponding to turn
Axle and bearing fit so that the stationary part of the 1st freedom motor is fixed together with rotor portion.
Further, the little tooth of some rotors, and first are evenly arranged on the outside of the first rotor iron core and the second rotor core
Mutual wrong 1/2 tooth pitch of the little tooth of rotor on rotor core and the second rotor core；
Magnetic pole is evenly distributed with the inside of first stator core and the second stator core, stator winding, magnetic in interpolar groove, is provided with
It is distributed with the pole shoe of pole and the little tooth of some stators of the little tooth tooth pitch identical of rotor.The 1st freedom motor is so caused to work in
Hybrid type stepping motor state.
Further, 2DOF motor includes 2DOF rotor part and 2DOF motor stator portion
Point, what 2DOF rotor part included the second permanent magnet and its both sides laminates third trochanter iron core and fourth trochanter ferrum
Core；
2DOF motor stator portion includes the second stator winding and the 3rd stator core for laminating and the 4th stator ferrum
Core, one end of the first stator core are connected with base, and the other end is connected with the bearing of 2DOF motor；2DOF motor
Rotor portion central axis is provided with the rotating shaft of 2DOF motor so that rotor portion is fixedly set in rotating shaft, corresponding to turn
Axle and bearing fit so that the stationary part of 2DOF motor is fixed together with rotor portion.
Further, the little tooth of some rotors, and the 3rd are evenly arranged on the outside of third trochanter iron core and fourth trochanter iron core
Mutual wrong 1/2 tooth pitch of the little tooth of rotor on rotor core and fourth trochanter iron core；
Magnetic pole is evenly distributed with the inside of 3rd stator core and the 4th stator core, stator winding, magnetic in interpolar groove, is provided with
It is distributed with the pole shoe of pole and the little tooth of some stators of the little tooth tooth pitch identical of rotor.2DOF motor is so caused to work in
Hybrid type stepping motor state.
Wherein, the rotating shaft of the 1st freedom motor and 2DOF motor is single shaft form.
Further, position detecting device has been mounted directly on output shaft, to constitute servosystem, realize closed loop control,
So as to meet small size, high accuracy, high performance application requirements.
Wherein, the stationary part of two freedom motors of the present utility model is fixed by screws in one with stator end cap
Rise, stator terminal lid is provided with bearing, and stationary part is fixed together with rotor portion by stator end cap and bearing.
The bottom stator end cap of the 1st freedom motor can be while as the base of integrated motor, stator end cap and stator ferrum
Core is fixed, therefore the stator end cap and stationary part of the 1st freedom motor is in space transfixion, and rotor portion and rotating shaft can
Central axis (it is assumed that X-axis) around the shaft is rotated within the specific limits.
Second purpose of the present utility model is to provide a kind of robot with multiple freedoms of motion, should be with multiple fortune
The robot of dynamic degree of freedom includes described aspherical orthohormbic structure two-freedom hybrid type stepping motor.
3rd purpose of the present utility model is to provide a kind of blender, and the blender includes described aspherical orthohormbic structure
Two-freedom hybrid type stepping motor.
4th purpose of the present utility model is to provide a kind of electric gyro, and the electric gyro includes described aspherical
Orthohormbic structure two-freedom hybrid type stepping motor.
Aspherical orthohormbic structure two-freedom hybrid type stepping motor of the present utility model is also applied to multi-coordinate machinery
Machining center, aerospace craft, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medical apparatus and instruments, camera operation platform, panorama
In the equipment with multiple freedoms of motion such as shooting operation platform, globe valve.
The beneficial effects of the utility model are：
(1) Hybrid stepping motor of the present utility model extends the species of multiple degrees of freedom motor, and electromechanics is integrated
Degree and stock utilization are higher, and positioning precision is higher, and the range of deflection of output shaft is larger, can meet or exceed ± 60 °, electricity
Machine body and mechanical connecting structure are relatively simple, and processing and manufacturing easily, is advantageously implemented multiple degrees of freedom motor, particularly two certainly
By degree the practical of motor, lightweight and small size.
(2) Hybrid stepping motor of utility model solves Solution of Electromagnetic Field Penetration Problems.1st degree of freedom electricity of the present utility model
Machine and 2DOF motor are fixed together by not magnetic rotating shaft, thus both in terms of electromagnetism be it is separate,
Between there is no electromagnetic coupled relation, greatly simplify motor electromagnetism calculate and performance evaluation, solve multiple degrees of freedom electronic
One of key issue in machine research process.
(3) Hybrid stepping motor of utility model completely eliminates the out-of-balance force of mechanical aspects, is conducive to motor to put down
It is steady to run.2DOF motor of the present utility model adopts complete column structure motor, in terms of there is no mechanically and electrically magnetic
Out-of-balance force；Under normal circumstances, base need to only carry out horizontal hunting operation for horizontal fixed placement, i.e. the 1st freedom motor, because
This completely eliminates the impact of gravity and resulting mechanical imbalance power to motor operation so that motor operation is more put down
Surely；Additionally, 2DOF motor approximately divides in space symmetr homogenizing relative to the shaft axis (X-axis) of the 1st freedom motor
Cloth, and its barycenter is nearly seated in X-axis, therefore its constant load in rotation process all the time as the 1st freedom motor,
Be conducive to the even running of the 1st freedom motor.
(4) Hybrid stepping motor of utility model simplifies motor manufacturing and processing technique.Two of the present utility model
Freedom motor is separate in terms of electromagnetism, can individually carry out Electromagnetic Design for each freedom motor, additionally,
Two freedom motors can be manufactured respectively and be processed, and carry out Simple assembled, therefore can simplify system after machining
Make and processing technique, it is ensured that the machining accuracy of each freedom motor, the processing essence overall so as to improve two-freedom motor
Degree.
(5) Hybrid stepping motor of utility model can simplify the driving control system of motor.Of the present utility model two
Individual freedom motor works in hybrid type stepping motor state and separate, therefore can be using suitable for hybrid stepping
The electric current subdivision drive control method of motor is individually driven and is controlled to two freedom motors, realizes two freedom
Uneoupled control between degree, is convenient for trajectory planning and control algolithm research, additionally, using ripe integrated Multi-level microstep
Control circuit, enormously simplify the development of driving control system, be easy to develop computer control system, improves control and drives one
Change, integration degree.
(6) Hybrid stepping motor of utility model is capable of achieving open ring position control, saves position sensor, and open loop control
Positioning precision processed is higher.Two freedom motors of the present utility model work in hybrid type stepping motor state and mutually solely
It is vertical, therefore open ring position control can be carried out respectively, the height of opened loop control positioning precision depends on the step of each freedom motor
Elongation size, and the advantage of hybrid type stepping motor is, can be carried using electric current subdivision drive method under the conditions of opened loop control
High position precision, and electric current high-subdividing number is bigger, positioning precision is higher, therefore can meet different by changing electric current high-subdividing number
Positioning accuracy request, thoroughly solves ordinary quaternary column structure two-freedom motor (Fig. 1) open loop operation positioning precision low
Problem.
(7) Hybrid stepping motor of utility model improves the overall mechanical integrity of motor.As shown in figure 4, this
Two freedom motors of utility model are fixed together by the rotating shaft of the 1st freedom motor, the 1st degree of freedom electricity
Machine turns shaft design and causes the sky inside the 1st freedom motor rotor core and between 2DOF motor stator end cap outside
Between obtained effectively utilizes, compared to ordinary quaternary column structure two-freedom motor (Fig. 1) and orthohormbic structure two-freedom
Hybrid type stepping motor (Fig. 2) mechanical integrity is higher；On the other hand, the design of base except for fix integrated motor it
Outward, the stator end cap of the 1st freedom motor is also acted as, mechanical integrity is further increased, is conducive to reducing motor entirety
Volume.
(8) the perfect reasonability of motor construction of the Hybrid stepping motor of utility model, improves the power of motor
Square performance.Different from traditional orthohormbic structure two-freedom motor (such as Fig. 1, Fig. 2, Fig. 3), rise in this utility model main
1st freedom motor of driving effect adopts big electric machine structure, and the 2DOF motor for playing secondary driving effect adopts small machine
Structure, and the 1st freedom motor rotor internal diameter is more than the stator outer diameter (such as Fig. 4) of 2DOF motor so that electric machine structure
Design is more reasonable；On the other hand, the 1st freedom motor stator and rotor external diameter of main driving effect is played not by 2DOF electricity
The restriction (such as Fig. 4) of machine size, and stator and rotor iron core laminated length alterable scope is larger, therefore can be by increasing stator and rotor
External diameter and stator and rotor laminate core length to improve the moment properties of main drive motor, so as to the torque that lifting motor is overall
Can index.
(9) Hybrid stepping motor of utility model is convenient carries out performance test and experimentation to motor.On the one hand, originally
Two freedom motors of utility model are separate, therefore can carry out performance test and experimentation respectively.On the other hand,
1 freedom motor is the independent completion motor of single shaft, can directly carry out experiment test；2DOF motor is tested
During test, rotor portion (include rotor core, permanent magnet) can be constructed and test prototype that rotating shaft is complete column structure, be tested
Model machine is compared to original motor dimensional structure parameter constant but can carry out rotating more than 360 ° so that the experiment for conventional motor is surveyed
Examination may be directly applied to test prototype.
(10) Hybrid stepping motor of utility model is electronic compared to traditional orthogonal column structure two-freedom stepping
Machine (such as Fig. 1, Fig. 2, Fig. 3), this utility model is more easily installed position detecting device to constitute servosystem, so as to realize closed loop
Control, meets small size, high accuracy, high performance application requirements.
Description of the drawings
Fig. 1 is the overall structure diagram of orthogonal column structure two-freedom motor；
Overall structure diagrams of the Fig. 2 for orthohormbic structure two-freedom hybrid type stepping motor；
Fig. 3 is the overall structure diagram of bionical eyeball two-freedom hybrid type stepping motor；
Fig. 4 is overall structure figure of the present utility model；
Fig. 5 is overall structure top view of the present utility model；
Fig. 6 is the 1st freedom motor of the present utility model and base overall structure figure；
Fig. 7 is 2DOF motor of the present utility model and output shaft overall structure figure；
Fig. 8 is the 1st freedom motor structure decomposition figure of the present utility model；
Fig. 9 is 2DOF electric machine structure exploded view of the present utility model；
Stator winding each winding wiring figures of the Figure 10 for the 1st freedom motor of this utility model；
Stator winding each winding wiring figures of the Figure 11 for this utility model 2DOF motor；
Figure 12 is the position view that the 1st freedom motor of the present utility model rotates 60 °；
Figure 13 is the position view that 2DOF motor of the present utility model rotates 60 °；
Figure 14 is output shaft terminal point running orbit scope schematic diagram of the present utility model；
Output shaft terminal point running orbit scope schematic diagrams of the Figure 15 for conventional orthogonal structure two-freedom motor；
Experiment test model machine overall structure figures of the Figure 16 for the 1st freedom motor of this utility model；
Experiment test prototype structure exploded views of the Figure 17 for this utility model 2DOF motor；
Figure 18 is this utility model for motor body structure chart during closed loop control；
Figure 19 is this utility model for motor body+position detecting device overall structure figure during closed loop control.
Wherein, the 1, the 1st freedom motor 1；2nd, 2DOF motor；3rd, output shaft；4th, base 4；5-1, the first stator terminal
Lid；5-3, the 3rd stator end cap；5-4, the 4th stator end cap；6-1, clutch shaft bearing；6-2, second bearing；6-3,3rd bearing；
6-4, fourth bearing；7-1, the first rotor iron core；7-2, the second rotor core；7-3, third trochanter iron core；7-4, fourth trochanter
Iron core；The rotating shaft of 8-1, the 1st freedom motor；The rotating shaft of 8-2,2DOF motor；9-1, the first permanent magnet；9-2, second
Permanent magnet；10-1, the first stator core；10-2, the second stator core；12nd, output shaft terminal point running orbit place sphere；
13rd, the 1st freedom motor is fixed for -60 °, 2DOF motor rotates running orbit curve when ± 60 °；14th, fix the 2nd
Freedom motor is -60 °, and the 1st freedom motor rotates running orbit curve when ± 60 °；15th, fix the 1st freedom motor
For+60 °, 2DOF motor rotates running orbit curve when ± 60 °；16th, 2DOF motor is fixed for+60 °, the 1st
Freedom motor rotates running orbit curve when ± 60 °；17th, the support base of 2DOF motor；18th, X-axis encoder；19、
Y-axis encoder.
Specific embodiment
This utility model is described further with embodiment below in conjunction with the accompanying drawings：
The purpose of this utility model is deposited to solve multiple degrees of freedom motor, especially orthohormbic structure two-freedom motor
The problems referred to above, further promote and realize the practical of multiple degrees of freedom motor, industrialization and commercialization, there is provided Yi Zhongfei
Spherical orthohormbic structure two-freedom composite stepper motor.Driven machine person joint and robot bionic eyeball can be realized one
Determine in scope, any track of certain precision lower edge is moved, and than most traditional spherical multi-freedom electric motor structures more
Simply, easily processing and manufacturing, rotor deflection scope bigger, volume is less, weight lighter, drive circuit more simplifies, control
Mode is more simple, operation flatness is more preferable.Remarkable advantage of the present utility model is to reduce the imbalance in terms of electromagnetism
Power, the out-of-balance force for completely eliminating mechanical aspects, are capable of achieving the open ring position control of motor, save position sensor, and
Even and if under open ring position control service condition, also higher positioning accurate can be realized by powering using sub-driver circuit
Degree.
Aspherical orthohormbic structure two-freedom hybrid type stepping motor of the present utility model is (more) with traditional two freely
Degree motor compare with structural principle it is simple, mechanical integrity is high, design convenience of calculation, processing and manufacturing easily, drive control
Mode is simple, achievable opened loop control, opened loop control positioning precision height, the simply constructed advantage of closed loop servo system, not only may be used
For the occasion of (opened loop control) higher to volume requirement, relatively low to required precision, and can be used for volume and
The occasion of required precision all higher (closed loop control), has a clear superiority compared with other two (many) freedom motors.
Embodiment 1
It is electronic that first purpose of the present utility model there is provided a kind of hybrid stepping of aspherical orthohormbic structure two-freedom
Machine, as shown in figure 4, the aspherical orthohormbic structure two-freedom hybrid type stepping motor includes the 1st freedom motor the 1, the 2nd certainly
By degree motor 2, output shaft 3 and base 4, two freedom motors are inner rotor motor, including rotor portion, stationary part,
Stator end cap, rotating shaft；The rotor portion structural principle of described two freedom motors is identical, including the two of permanent magnet and its both sides
Section laminates rotor core, and some little teeth are evenly arranged on the outside of rotor core, mutual wrong 1/2 tooth pitch of the little tooth on two-stage rotor iron core；
The stationary part of described two freedom motors includes laminating stator iron core, stator winding, is evenly distributed with the inside of stator core
Magnetic pole, is provided with stator winding in interpolar groove, be distributed with and the little tooth of some stators of the little tooth tooth pitch identical of rotor on the pole shoe of magnetic pole；
Together with the stationary part of described two freedom motors is fixed by screws in stator end cap, stator terminal lid is provided with bearing,
Rotor centerline is provided with rotating shaft, and rotor portion is fixedly set in rotating shaft, rotating shaft and bearing fit, and stationary part passes through stator
End cap and bearing are fixed together with rotor portion.
Wherein, two freedom motors of the present utility model can also adopt other versions, for example：
The rotor core periphery of two freedom motors is uniformly machined with the little tooth of some rotors, and stator core inner circumferential is uniformly divided
Stator canine tooth is furnished with, the little tooth of some stators on each stator canine tooth, is machined with；Concentrated form is wound with each stator canine tooth
Stator winding；
The little tooth of stator is identical with the tooth pitch of the little tooth of rotor, can effectively weaken motor torque ripple, improves motor operation and puts down
Stability；
The little tooth of rotor on the two-stage rotor iron core of each freedom motor mutually staggers 1/2 tooth pitch so that motor works
In hybrid type stepping motor state；The other structures of two freedom motors are identical with existing structure.
The stationary part of the 1st freedom motor 1 includes the first stator core 10-1, clutch shaft bearing 6-1 and second bearing 6-
2.The rotor portion of the 1st freedom motor 1 includes the first rotor iron core 7-1, the second rotor core 7-2 and the first permanent magnet 9-1.
The stationary part of 2DOF motor 1 includes the second stator core 10-2,3rd bearing 6-3, fourth bearing 6-4.2nd freely
The rotor portion of degree motor 2 includes third trochanter iron core 7-3, fourth trochanter iron core 7-4 and the second permanent magnet 9-2.
Wherein, the base 4 that the second stator end cap of the 1st freedom motor 1 can simultaneously as integrated motor, the first stator terminal
Lid 5-1 and the first stator core 10-1 is fixed, therefore the first stator end cap 5-1, the second stator end cap of the 1st freedom motor 1
With stationary part in space transfixion, and rotor portion and rotating shaft 8-1 can 8-1 around the shaft central axis (it is assumed that X-axis)
Rotate within the specific limits；
The rotating shaft 8-1 main bodys of the 1st freedom motor 1 are semicircle column type, and rotating shaft 8-1 body outer diameters are more than the second stator
Iron core 10-2 external diameters, and the plane side of the rotating shaft 8-1 main bodys of the 1st freedom motor 1 is provided with sufficiently large notch so that the
2DOF motor 2 is overall can be embedded inside notch；
Together with the rotating shaft 8-1 of the 1st freedom motor 1 is fixedly set in 2 entirety of 2DOF motor so that X-axis
With rotating shaft 8-2 centrages (it is assumed that Y-axis) perpendicular quadrature of 2DOF motor 2, therefore the rotating shaft 8- of the 1st freedom motor 1
1 can drive 2 entirety of 2DOF motor to be rotated around X-axis within the specific limits；
The rotating shaft 8-2 of the 2DOF motor 2 is provided with output shaft 3, and output shaft 3 can connect load equipment, and export
3 axis of axle (it is assumed that S axles) and Y-axis perpendicular quadrature, therefore output shaft 3 can be in the 1st freedom motor 1 and 2DOF motor 2
Rotated rotating around X-axis and Y-axis within the specific limits under effect, so as to drive load equipment to realize that two-freedom is moved.
Rotating shaft 8-1,8-2 of described two freedom motors may be designed as single shaft form, and going out shaft portion directly can pacify
Holding position detection means to constitute servosystem, realize closed loop control, so as to meet small size, high accuracy, high performance occasion
Require.
When this utility model is used as two-phase motor, realize that two-freedom operation logic is as follows：
1st freedom motor is powered and produces permanent magnet flux Φ 1, permanent magnet flux Φ 1 successively Jing semicircular ring permanent magnet → 1st from
By stator core → air gap → the 1st freedom motor of one section of rotor core → air gap → the 1st freedom motor of degree motor
Another section of rotor core → semicircular ring permanent magnet forms closed-loop path, when the 1st freedom motor stator winding in certain sequence
During energization, the 1st freedom motor works in hybrid type stepping motor state, and the rotor portion of the 1st freedom motor drives and turns
Axle and 2DOF motor are integrally turned about the X axis, and make output shaft realize swinging around X-direction；
2DOF electrical power produces permanent magnet flux Φ 2, and Jing annular permanent magnets → 2nd is free successively for permanent magnet flux Φ 2
Degree motor one section of rotor core → air gap → the 2DOF motor stator core → air gap → the 2DOF motor it is another
One section of rotor core → annular permanent magnet forms closed-loop path, when the stator winding of 2DOF motor is powered in certain sequence
When, 2DOF motor works in hybrid type stepping motor state, and the rotor portion of 2DOF motor drives rotating shaft around Y
Axle is rotated, and makes output shaft realize swinging around Y direction；
It is powered to the 1st freedom motor and 2DOF motor simultaneously, output shaft is realized within the specific limits around X-axis
Make two-freedom motion with Y-axis.
Specifically, as shown in Fig. 4, Fig. 6, Fig. 8, Figure 10, the stationary part of the 1st freedom motor 1 and the first stator end cap
5-1 is maintained static by base 4；Wherein, the stationary part of the 1st freedom motor 1 also includes stator winding 11-1 (+A), 11-2
(+B)、11-3(-A)、11-4(-B)。
When biphase stator winding is powered by the order of (+A)-(+B)-(- A)-(- B), rotor portion and rotating shaft 8-1
Can be turned about the X axis by clutch shaft bearing 6-1, second bearing 6-2, and drive output shaft 3 and 2DOF motor 2 overall around X-axis
Rotate.
The stationary part of 2DOF motor 1 includes the second stator core 10-2,3rd bearing 6-3, fourth bearing 6-4.
On this basis, when 2DOF motor 2 biphase stator winding (11-5 (+A)～11-12 (- B) by (+A)-(+B)-(-
When the order of A)-(- B) is powered, its rotor portion and rotating shaft 8-2 can be turned around Y-axis by 3rd bearing 6-3, fourth bearing 6-4
It is dynamic, and drive output shaft 3 to rotate around Y-axis, as shown in Fig. 4, Fig. 7, Fig. 9, Figure 11.
Therefore, output shaft 3 can be rotated rotating around X-axis, Y-axis in the case where the 1st freedom motor 1,2DOF motor 2 drives,
And the motion of two freedom motors is separate, so as to realize that two-freedom is moved.Wherein, the pole of the 1st freedom motor 1
θ in limit rotational angle such as Figure 121(θ1>=60 °) shown in, the extreme rotational angle of 2DOF motor 2 depends on output shaft 3
Length, if output shaft 3 is longer, the extreme rotational angle of 2DOF motor 2 is (360 ° of -2 θ2)(θ2It is defined as output shaft
The angle of S axles and X-axis when 3 terminal points touch 4 place plane of base, as shown in figure 13), if output shaft 3 is shorter, the 2nd
Freedom motor 2 can be performed for more than 360 ° and freely rotate.
This utility model is capable of achieving two freely with traditional orthohormbic structure two-freedom motor (such as Fig. 1, Fig. 2, Fig. 3)
Degree motion, but the terminal point running orbit of both output shafts 3 is otherwise varied, and reason is：Although both X-axis and Y-axis exist
All the time perpendicular quadrature, position of intersecting point are invariable in space, and the axis (it is assumed that S axles) of output shaft 3 is all the time perpendicular to Y-axis,
But S axles of the present utility model are not passed through X-axis and Y-axis intersection point, and the S axles of conventional orthogonal structure two-freedom motor are passed through all the time
X-axis and Y-axis intersection point.In place of the similarities and differences of both 3 terminal point running orbits of output shaft are discussed in detail below in conjunction with accompanying drawing.With two
The rotational angle θ of individual freedom motor1=θ2=± 60 °, 1.8 ° of step angle (mechanical angle turned over per one step of step run),
3 terminal point of output shaft to X-axis it is identical with the distance of Y-axis intersection point as a example by, this utility model and conventional orthogonal structure two-freedom
The 3 terminal point operation area of output shaft of motor is included in just curve 13, curve 14, curve 15, curve 16 and is surrounded
Within the scope of spherical area, as shown in Figure 14, Figure 15, the dot matrix in the range of this spherical area is 3 terminal point of output shaft
The all positions in space that can be reached.
To fix the 1st freedom motor for -60 °, 2DOF motor rotates running orbit song when ± 60 ° to curve 13
Line；To fix 2DOF motor for -60 °, the 1st freedom motor rotates running orbit curve when ± 60 ° to curve 14；It is bent
To fix the 1st freedom motor for+60 °, 2DOF motor rotates running orbit curve when ± 60 ° to line 15；Curve 16 is
2DOF motor is fixed for+60 °, the 1st freedom motor rotates running orbit curve when ± 60 °.
The running orbit of both 3 terminal points of output shaft is compared, and something in common is：Running orbit position is in same sphere
On 12；Difference is：(1) when the angle position of the 1st freedom motor is constant, 2DOF motor around Y-axis at ± 60 °
In the range of when rotating, running orbit curve of the present utility model is intersected with the warp on sphere 12, conventional orthogonal structure two
The running orbit curve of degree of freedom motor is overlapped with the warp on sphere 12, and (2) are permanent when the angle position of 2DOF motor
Fixed, the 1st freedom motor around X-axis rotate in the range of ± 60 ° when, this utility model and conventional orthogonal structure two-freedom it is electronic
The running orbit curve of machine is overlapped with the parallel on sphere 12, but the dimension of this utility model running orbit curve place parallel
Less than the dimension of conventional orthogonal structure two-freedom motor running geometric locus place parallel.It can be seen that, conventional orthogonal structure two
The output shaft terminal point of degree of freedom motor uses longitude and latitude line running orbit and positioning mode, is consequently belonging to sensu lato
Spherical structure two-freedom motor, and the running orbit and positioning mode of this utility model output shaft terminal point are different from
Traditional spherical orthohormbic structure two-freedom motor, is consequently belonging to aspherical two-freedom motor；Additionally, this utility model
The pivot center (X-axis and Y-axis) of two freedom motors is mutually perpendicular to orthogonal, is consequently belonging to orthohormbic structure two-freedom electronic
Machine.To sum up, substitutive characteristics of the present utility model are a kind of aspherical orthohormbic structure two-freedom motor.By Figure 14, Tu15Ke
See, the step angle of motor is less, then adjacent 2 points of spherical distance is nearer in dot matrix, represent the positioning accurate of output shaft terminal point
Degree is higher.In the middle of actual, generally using electric current Multi-level microstep mode, (hybrid type stepping motor adopts electric current Multi-level microstep mode
For prior art, it 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 accurate
Degree 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 transported in open loop
It has been very high positioning precision under the conditions of row.
This utility model is typically used as biphase and three phase motor structure, wherein, 2DOF motor is mixed for ordinary construction
Box-like stepping motor, the determination method of its stator winding mode of connection, stator magnet number of poles and the rotor number of teeth belong to this area
Common knowledge, here introduce the 1st freedom motor.The stator winding mode of connection and ordinary construction of the 1st freedom motor
Hybrid type stepping motor is identical, its rotor angular pitch θr(mechanical angle) has 4 kinds of determination methods, respectively：(1)θr=
360 °/[j (4mk+2)], (2) θr=360 °/[j (4mk-2)], (3) θr=360 °/[j (4mk+2m-2)], (4) θr=360 °/
[j(4mk-2m+2)]；Stator magnet number of poles is 2m, and two neighboring magnetic pole of the stator mutually staggers (n+0.5/m) θr；Each magnetic pole of the stator
On the stator number of teeth be n.Wherein, j, k, n are positive integer, and m is number of motor phases, and the selection of n need to ensure two neighboring stator magnet
A certain size space is left between pole, stator winding is embedded to facilitate.Biphase (m=2) motor is used as with this utility model
As a example by, when j=1, k=6 is chosen, during n=3, its first stator core 10-1 and the stator winding mode of connection are as shown in Figure 10, its
In, rotor angular pitch is θr=360 °/50=7.2 °, stator magnet number of poles is 2m=4, and two neighboring magnetic pole of the stator mutually staggers
(n+0.5/m)θr=23.4 °, be n=3 per the pole stator number of teeth, stator winding wiring by the order of magnetic pole be followed successively by (+A)-(+
B)—(-A)—(-B)。
It is compared to traditional orthohormbic structure two-freedom motor (such as Fig. 1, Fig. 2, Fig. 3), of the present utility model significantly excellent
One of gesture is embodied in easily construction test prototype and carries out performance test and experimentation, and this is shortening this utility model from product
Preliminary design was laid a good foundation to the properties of product perfect R＆D cycle, be conducive to promoting this utility model product it is practical,
Industrialization and commercialization process.This utility model test prototype is illustrated with reference to Fig. 4, Fig. 6, Fig. 7, Figure 16, Figure 17
Building method and performance test and experiment research.This utility model motor overall (such as Fig. 4) is separate by two
Complete column structure group of motors into, i.e. the 1st freedom motor 1 (such as Fig. 6) and 2DOF motor 2 (such as Fig. 7), and
Test prototype can be constructed respectively and carries out experiment test.Wherein, common hybrid stepping of the 2DOF motor 2 for single shaft
Motor, carries out experiment test directly as test prototype after the support base 17 that can install 2DOF motor, such as Figure 17 institutes
Show.1st freedom motor 1 is internal rotor hybrid type stepping motor, as rotor is partial cylinder structure, it is impossible to be more than
360 ° of rotations, thus the more difficult experiment test that directly carries out, it is necessary to construct the test prototype shown in Figure 16, specific configuration method is such as
Under：(1) the first rotor iron core 7-1, the second rotor core 7-2, rotating shaft 8-1, the first permanent magnet 9-1 are supplemented as complete circle
Rod structure；(2) one end of rotating shaft 8-1 is lengthened, and the perforate on the first stator end cap 5-1 so that the spindle portion of lengthening
Can stretch out.For the test prototype of two freedom motors, when biphase stator winding presses (+A)-(+B)-(- A)-(- B)
Order be powered when, model machine can be rotated as common hybrid type stepping motor, thus can carry out a series of performance tests
And experimentation, mainly include：(1) no load test, no-load back electromotive force of the metrical prototype under certain rotating speed, to verify are carried out
The accuracy and reasonability of model machine zero load Electromagnetic Design；(2) static load experiment, the torque angle displacement characteristic of metrical prototype, to test are carried out
The accuracy and reasonability of static torque design under card model machine loading condition；(3) steady state load experiment, the square of metrical prototype are carried out
Frequency characteristic, obtains Changing Pattern of the model machine torque with rotating speed, to determine the optimum operation range of speeds of model machine；(4) carry out motor
Start experiment, maximum initiation culture under the zero load of metrical prototype and loading condition, to determine the startup range of speeds of model machine；(5)
Open loop operation positioning precision test experiments are carried out, by encoder or angular transducer are installed in model machine rotating shaft, can be measured
The angular values (multigroup measurement can be carried out in the case of different loads) of model machine actual rotation, by this measured value and opened loop control
Theoretical values (driver exports total umber of pulse and is multiplied by model machine step angle) under service condition are compared, and can carry out error
Analysis, so that it is determined that the open loop operation positioning precision of model machine.
Compared to traditional spherical structure multiple degrees of freedom motor and orthohormbic structure two-freedom motor (such as Fig. 1, Fig. 2,
Fig. 3), significant advantage of the present utility model is also embodied in easy installation site detection means to constitute servosystem, so as to realize
Closed loop control, this is that this utility model is laid a good foundation for small size, high accuracy, high performance occasion, further can be promoted
The practical of this utility model product, industrialization and commercialization process.This utility model is illustrated with reference to Figure 18, Figure 19
For motor unitary construction method during closed loop control：(1) one end of the rotating shaft 8-1 of the 1st freedom motor 1 is lengthened, and
The perforate on the first stator end cap 5-1 so that the spindle portion of lengthening can stretch out；(2) output shaft 3 is designed to shown in Figure 18
Structure, can be with external load；(3) divide on rotating shaft 8-1, the rotating shaft 8-2 of 2DOF motor 2 in the 1st freedom motor 1
Not An Zhuan X-axis encoder 18, Y-axis encoder 19, X-axis encoder 18, Y-axis encoder 19, you can as motor position detect
Device.
Embodiment 2
Second purpose of the present utility model is to provide a kind of robot with multiple freedoms of motion, should be with multiple fortune
The robot of dynamic degree of freedom includes described aspherical orthohormbic structure two-freedom hybrid type stepping motor.With multiple motions
The other structures of the robot of degree of freedom are identical with existing structure, will be not repeated herein.
Embodiment 3
3rd purpose of the present utility model is to provide a kind of blender, and the blender includes described aspherical orthohormbic structure
Two-freedom hybrid type stepping motor.The other structures of blender are identical with existing structure, will be not repeated herein.
Embodiment 4
4th purpose of the present utility model is to provide a kind of electric gyro, and the electric gyro includes described aspherical
Orthohormbic structure two-freedom hybrid type stepping motor.The other structures of electric gyro are identical with existing structure, herein will
It is not repeated.
Aspherical orthohormbic structure two-freedom hybrid type stepping motor of the present utility model is also applied to multi-coordinate machinery
Machining center, aerospace craft, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medical apparatus and instruments, camera operation platform, panorama
In the equipment with multiple freedoms of motion such as shooting operation platform, globe valve.
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 (9)
1. a kind of aspherical orthohormbic structure two-freedom hybrid type stepping motor, it is characterised in that including base, pacifies on base
Equipped with the 1st freedom motor, the rotating shaft of the 1st freedom motor is semicircle column type, and the external diameter of the rotating shaft is more than 2DOF electricity
The stator core external diameter of machine, and the planar side of the rotating shaft is provided with notch so that 2DOF motor can integrally embed notch
The inside；The rotating shaft of 2DOF motor is for complete column type and the rotating shaft is provided with output shaft；
The spindle central axis of the 1st freedom motor is located on horizontal plane and is set to X-axis, the spindle central of 2DOF motor
Axis and X-axis perpendicular quadrature, then the spindle central axis of 2DOF motor is used as Y-axis, the rotating shaft band of the 1st freedom motor
Dynamic 2DOF motor is integrally rotated within the specific limits around X-axis；
The axis of output shaft also with Y-axis perpendicular quadrature, again under the effect of 2DOF motor, Y-axis is within the specific limits for output shaft
Rotate, finally realize the two-freedom motion of output shaft.
2. a kind of aspherical orthohormbic structure two-freedom hybrid type stepping motor as claimed in claim 1, it is characterised in that
1st freedom motor includes the 1st freedom motor rotor portion and the 1st freedom motor stationary part, and the 1st freedom motor turns
What subdivision included the first permanent magnet and its both sides laminates the first rotor iron core and the second rotor core；
1st freedom motor stationary part includes the first stator winding and the first stator core for laminating and the second stator core,
One end of first stator core is connected with base, and the other end is connected with the bearing of the 1st freedom motor；1st freedom motor turns
Subdivision central axis is provided with the rotating shaft of the 1st freedom motor so that rotor portion is fixedly set in rotating shaft, respective axes of rotation
With bearing fit so that the stationary part of the 1st freedom motor is fixed together with rotor portion.
3. a kind of aspherical orthohormbic structure two-freedom hybrid type stepping motor as claimed in claim 2, it is characterised in that
2DOF motor includes 2DOF rotor part and 2DOF motor stator portion, and 2DOF motor turns
What subdivision included the second permanent magnet and its both sides laminates third trochanter iron core and fourth trochanter iron core；
2DOF motor stator portion includes the second stator winding and the 3rd stator core for laminating and the 4th stator core,
One end of first stator core is connected with base, and the other end is connected with the bearing of 2DOF motor；2DOF motor turns
Subdivision central axis is provided with the rotating shaft of 2DOF motor so that rotor portion is fixedly set in rotating shaft, respective axes of rotation
With bearing fit so that the stationary part of 2DOF motor is fixed together with rotor portion.
4. a kind of aspherical orthohormbic structure two-freedom hybrid type stepping motor as claimed in claim 2, it is characterised in that
The little tooth of some rotors, and the first rotor iron core and the second rotor ferrum are evenly arranged on the outside of the first rotor iron core and the second rotor core
Mutual wrong 1/2 tooth pitch of the little tooth of rotor on core；
Magnetic pole is evenly distributed with the inside of first stator core and the second stator core, stator winding in interpolar groove, is provided with, magnetic pole
It is distributed with pole shoe and the little tooth of some stators of the little tooth tooth pitch identical of rotor.
5. a kind of aspherical orthohormbic structure two-freedom hybrid type stepping motor as claimed in claim 3, it is characterised in that
The little tooth of some rotors, and third trochanter iron core and fourth trochanter ferrum are evenly arranged on the outside of third trochanter iron core and fourth trochanter iron core
Mutual wrong 1/2 tooth pitch of the little tooth of rotor on core；
Magnetic pole is evenly distributed with the inside of 3rd stator core and the 4th stator core, stator winding in interpolar groove, is provided with, magnetic pole
It is distributed with pole shoe and the little tooth of some stators of the little tooth tooth pitch identical of rotor.
6. a kind of aspherical orthohormbic structure two-freedom hybrid type stepping motor as claimed in claim 1, it is characterised in that
Position detecting device has been mounted directly on output shaft.
7. a kind of robot with multiple freedoms of motion, it is characterised in that include non-as described in claim 1-6 is arbitrary
Spherical orthohormbic structure two-freedom hybrid type stepping motor.
8. a kind of blender, it is characterised in that include the aspherical orthohormbic structure two-freedom as described in claim 1-6 is arbitrary
Hybrid type stepping motor.
9. a kind of electric gyro, it is characterised in that include aspherical orthohormbic structure two as described in claim 1-6 is arbitrary from
By degree hybrid type stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621135455.5U CN206117467U (en) | 2016-10-19 | 2016-10-19 | Two degrees of freedom of non - spherical orthohormbic structure hybrid step motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621135455.5U CN206117467U (en) | 2016-10-19 | 2016-10-19 | Two degrees of freedom of non - spherical orthohormbic structure hybrid step motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341026A (en) * | 2016-10-19 | 2017-01-18 | 山东大学 | Two-degree-freedom mixed type stepping motor with non-spherical orthogonal structure and method 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 |
| CN109802513A (en) * | 2019-01-31 | 2019-05-24 | 河北科技大学 | P-m rotor drive-type multifreedom motion motor |
-
2016
- 2016-10-19 CN CN201621135455.5U patent/CN206117467U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341026A (en) * | 2016-10-19 | 2017-01-18 | 山东大学 | Two-degree-freedom mixed type stepping motor with non-spherical orthogonal structure and method thereof |
| CN106341026B (en) * | 2016-10-19 | 2018-08-14 | 山东大学 | Aspherical orthohormbic structure two-freedom hybrid type stepping motor and its method |
| 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 |
| CN109802513A (en) * | 2019-01-31 | 2019-05-24 | 河北科技大学 | P-m rotor drive-type multifreedom motion motor |
| CN109802513B (en) * | 2019-01-31 | 2021-06-08 | 河北科技大学 | Permanent magnet rotor driving type multi-degree-of-freedom motion motor |
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