CN206117468U - Combined two degrees of freedom on quadrature cylinder structure hybrid step motor - Google Patents
Combined two degrees of freedom on quadrature cylinder structure hybrid step motor Download PDFInfo
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- CN206117468U CN206117468U CN201621137868.7U CN201621137868U CN206117468U CN 206117468 U CN206117468 U CN 206117468U CN 201621137868 U CN201621137868 U CN 201621137868U CN 206117468 U CN206117468 U CN 206117468U
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Abstract
The utility model discloses a combined two degrees of freedom on quadrature cylinder structure hybrid step motor, including first degree of freedom motor, two -degree -of -freedom motor and output shaft, first degree of freedom motor is cylindric structure, just the rotation of axes is circled as the pivot to the bottom surface diametric(al) that first degree of freedom motor used its cylindric structure, the two -degree -of -freedom motor is cylindric structure, sets up the outer edge of first degree of freedom motor, and its axle center with the axle center perpendicular of first degree of freedom motor, the axle center that the two -degree -of -freedom motor used first degree of freedom motor is as the pivot, around its rotation, the two -degree -of -freedom motor is along with first degree of freedom motor pivoted in -process keeps the independent motion for first degree of freedom motor again for the setting realizes the motion of two degrees of freedom at the output shaft in its outside. The utility model discloses be favorable to shortening the product R&D cycle, promote the performance of product, further practicability, industrialization and the commercialization that promotes many (two) degree of freedom motor.
Description
Technical field
This utility model is related to a kind of combined orthogonal column structure two-freedom hybrid type stepping motor.
Background technology
Traditional asynchronous motor, synchronous motor, only rotor rotate this one degree of freedom, by gear or worm screw
Cooperation this rotation motion can be in line motion.In many occasions, straight line or rotary motion just meet enough
The needs of control target；But in some more complicated motion occasion (positioning controls of control, radar such as robot arm
System etc.), one degree of freedom can not meet needs, it is necessary to have multiple motor with the use of can be only achieved purpose.But, such as
Fruit is carried out control and will produce many problems by multiple motors, such as complicated in mechanical structure, volume and weight increase, precision and
Dynamic characteristic is difficult to ensure that.Just because of in multifreedom controlling if using multiple motors control exist it is many lack
Fall into, people just gradually begin one's study whether a motor can be made it is multivariant, enable simulate controlled device
The movement locus to be realized.
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 it 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
The development studied by degree motor, 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 provide 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
A.Foggia et al. the spherical induction conductivity of outer rotor two-freedom, the U.S. G.J.Vanchtsevanos that develop et al. grind
Spherical step motor, A.R.Miles that three degree of freedom spherical induction conductivity, U.S. Kok-Meng Lee of system et al. are developed
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, and 863 Program and state natural sciences fund all subsidized the research project in terms of multiple degrees of freedom motor.
Main results have Northwestern Polytechnical University to have developed a kind of three degree of freedom spherical motor, and HUST have developed one
Three degree of freedom spherical induction conductivity, Zhejiang University is electronic based on the frame structure two-freedom that NEC Jing Qi companies propose
Machine principle have developed a kind of orthohormbic structure two-freedom hybrid type stepping motor for robot ball-joint, Harbin industry
University have developed a kind of orthogonal column structure two-freedom motor, and Shandong University have developed a kind of for driven machine people
The bionical eyeball two-freedom hybrid type stepping motor of bionical eyeball.
The work that forefathers are done 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 1-1 and 2DOF motor 2-1, wherein, 1-1 works in hybrid type stepping motor state,
Step angle is little, open loop positioning precision high, and 2-1 works in permanent-magnet stepping motor state, and step angle is big, open loop positioning precision
It 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
University develop bionical eyeball two-freedom hybrid type stepping motor schematic diagram, both of which by the 1st freedom motor 1-2,
1-3 and 2DOF motor 2-2,2-3 are constituted, and 1-2,1-3,2-2,2-3 work in hybrid type stepping motor state,
Step angle is little, open loop positioning precision high, and because 2-2,2-3 adopt special non-cylindrical configuration motor, meeting in rotation process exists
The out-of-balance force of mechanical aspects is produced under the influence of Asymmetric Electric magnetic force and gravity, causes motor to disturb, electricity may be caused when serious
Machine cannot normally run.
3. from Fig. 1, Fig. 2, the 1st freedom motor (the 1-1,1-2) two ends of this two kinds of structure two-freedom motor
There is segment space inside portion and 2DOF motor (2-1,2-2) to be underutilized, this is reduced to a certain extent
The overall mechanical integrity of two-freedom motor.
Utility model content
This utility model is in order to solve the above problems, it is proposed that a kind of combined orthogonal column structure two-freedom is hybrid
Stepping motor, this utility model reduces out-of-balance force in terms of electromagnetism, completely eliminates the out-of-balance force of mechanical aspects, can
The open ring position control of motor is realized, position sensor is saved, even and if under open ring position control service condition, also may be used
Higher positioning precision is realized by powering using sub-driver circuit.Driven machine person joint and machine can further be realized
The bionical eyeball of device people within the specific limits, the motion of certain precision lower edge any track, it is and more traditional than majority spherical how free
Degree electric motor structure is more simple, bigger, volume is less, weight is lighter, drive electricity to be easier processing and manufacturing, rotor deflection scope
Road more simplifies, control mode 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 combined orthogonal column structure two-freedom hybrid type stepping motor, including the first freedom motor, the
Two-freedom degree electric machine and output shaft, wherein, first freedom motor is cylindrical-shaped structure, and first freedom motor
Basal diameter direction with its cylindrical-shaped structure rotates around the shaft as rotating shaft；
Second freedom motor is cylindrical-shaped structure, is arranged on the outer of first freedom motor, and by the
Single-degree-of-freedom motor set is loaded on inside it, and its axle center is orthogonal with the axis perpendicular of first freedom motor, and described second
Freedom motor is rotated around it with the axle center of the first freedom motor as rotating shaft；
Second freedom motor is kept relative to first freely again during rotating with the first freedom motor
The self-movement of degree motor so that be arranged on the motion that the output shaft on the outside of it realizes two degree of freedom.
First freedom motor is inner rotor motor, including rotor portion, stationary part and rotating shaft, the rotor portions
The center that stationary part is arranged on by rotating shaft, the rotor portion is divided to include two sections of annulars of annular permanent magnet and its both sides
Laminate rotor core, rotor core outside is evenly arranged some little teeth, stationary part include laminating stator cores, stator around
Group, stator core inner side is distributed with magnetic pole, and in interpolar groove stator winding is provided with.
Second freedom motor is external rotor electric machine, including rotor portion, stationary part and rotating shaft, the rotor portions
The center that stationary part is arranged on by rotating shaft, the rotor portion is divided to include two sections of annulars of annular permanent magnet and its both sides
Laminate rotor core, rotor core inner side is evenly arranged some little teeth, stationary part include laminating stator cores, stator around
Group, stator core outside is distributed with magnetic pole, and in interpolar groove stator winding is provided with.
Mutual wrong 1/2 tooth pitch of little tooth on the two-stage rotor iron core of the rotor portion, the stator being distributed on the pole shoe is little
Tooth pitch between tooth is identical with the little tooth tooth pitch of rotor.
The stationary part of first freedom motor is in space transfixion, and rotor portion and rotating shaft around determining, can turn
Subcenter axis is rotated within the specific limits.
The frame diameter of first freedom motor is less than the frame diameter of the second freedom motor, and
Notch is offered inside the stator core of the second freedom motor, first freedom motor can embed notch the inside.
The stator core of second freedom motor is provided with mechanical linkage, one end of mechanical linkage and the second degree of freedom
The stator core of motor is fixed, and the other end is fixed with the rotating shaft of the first freedom motor so that the first freedom motor it is fixed, turn
Subcenter axis is orthogonal with the stator and rotor central axis upright of the second freedom motor, and the rotating shaft of the first freedom motor drives
The overall stator and rotor central axis around the first freedom motor of second freedom motor is rotated within the specific limits.
The running orbit of the output shaft terminal point is always positioned on same sphere, and running orbit scope is limited to two
The extreme rotational angular range of freedom motor.
Same phase stator winding is wrapped on adjacent two magnetic pole of the stator and coiling is in opposite direction, this two neighboring stator
Magnetic pole mutually staggers (k+0.5) θrMechanical angle；Two stator magnets that biphase stator winding with identical coiling direction is located
Extremely mutually stagger (180 ° of ± θr/ 4) mechanical angle, wherein, k is positive integer, θrFor rotor tooth elongation.
During construction two-freedom hybrid type stepping motor, the no load test of two motors, static load experiment, steady is carried out
State load test, start experiment and open loop operation positioning precision test experiments, to determine respective unloaded electromagnetism, loading condition under
Static torque, the optimum operation range of speeds, starting speed scope and open loop operation positioning precision.
A kind of joint of robot, specifically includes above-mentioned two-freedom hybrid type stepping motor.
A kind of robot bionic eyeball, including above-mentioned two-freedom hybrid type stepping motor.
Utility model works principle：For the first freedom motor, Jing annular permanent magnet → mono- section of permanent magnet flux Φ 1 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, the rotor portion of the first freedom motor and
Rotating shaft is turned about the X axis together with the overall stationary part relative to the first freedom motor of the second freedom motor, makes output shaft reality
Now swing around X-direction.For the second freedom motor, the Jing annular permanent magnet → mono- section rotor cores of permanent magnet flux Φ 2 → gas
Gap → stator core → air gap → another section of rotor core → annular permanent magnet forms closed-loop path, when stator winding is by certain suitable
When sequence is powered, motor equally works in hybrid type stepping motor state, and the rotor portion of the second freedom motor is relative to the
The stationary part of two-freedom degree electric machine is rotated around Y-axis, makes output shaft realize being swung around Y direction.Suitably give the first degree of freedom electricity
Machine and the second freedom motor are powered, and 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 that output shaft end runs be similar to the earth respectively
Warp and parallel on instrument.In the middle of actual, the motion of two freedom motors be all certain extreme rotational angular range it
Interior, you can 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 with certain precision in claimed range along arbitrary trajectory.
The beneficial effects of the utility model are：
1st, using new operation principle and electric machine structure, the species of multiple degrees of freedom motor is extended, 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 ± 45 °, electricity
Machine body and mechanical connecting structure are relatively simple, and easily, (particularly two certainly to be advantageously implemented multiple degrees of freedom motor for processing and manufacturing
By degree motor) practical, lightweight and small size.
2nd, 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
What non-magnetic mechanical mechanism was fixed together, thus both in terms of electromagnetism be it is separate, between there is no electromagnetism coupling
Conjunction relation, the electromagnetism that greatly simplify motor is calculated and performance evaluation, solves the pass in multiple degrees of freedom motor research process
One of key problem.
3rd, the out-of-balance force of mechanical aspects is completely eliminated, the out-of-balance force in terms of electromagnetism is largely reducing.This practicality is new
Two freedom motors of type adopt column structure motor, and both rotating parts (put aside output shaft and its external
Load) it is relative for the mechanical force that constant load, i.e. rotating part are turned to produced by optional position relative to respective rotary shaft
It is invariable in respective rotary shaft, thus completely eliminate the out-of-balance force of mechanical aspects in rotation process.On the other hand,
The stator and rotor part of single-degree-of-freedom motor adopts full symmetric cylinder electric machine structure, completely eliminates the injustice in terms of electromagnetism
Weighing apparatus power；The rotor portion of the second freedom motor adopts full symmetric cylinder electric machine structure, stationary part to adopt asymmetric cylinder
Electric machine structure, therefore electromagnetic unbalance power can be produced, but compared to orthohormbic structure two-freedom hybrid type stepping motor (Fig. 2)
With bionical eyeball with two-freedom hybrid type stepping motor (Fig. 3), this electromagnetic unbalance power is because using cylinder electric machine structure
And weakened significantly.
4th, 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, and two freedom motors adopt complete circle
Post electric machine structure, many is applied to this practicality for the empirical equation and diagram curve of conventional hybrid type stepping motor design
It is new, additionally, two freedom motors can respectively be manufactured and processed, Simple assembled is carried out after machining, therefore
Manufacture and processing technique can be simplified, it is ensured that the machining accuracy of each freedom motor, it is whole so as to improve two-freedom motor
The machining accuracy of body.
5th, the driving control system of motor is simplified.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, rail is convenient for
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 can respectively carry out open ring position
Control, the height of opened loop control positioning precision depends 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, thoroughly solves general
Lead to the low problem of orthogonal column structure two-freedom motor (Fig. 1) open loop operation positioning precision.
7th, improve the overall mechanical integrity of motor.As shown in figure 4, due to the second degree of freedom of the present utility model electricity
Machine 2-4 employs outer-rotor structure so that the space between the first freedom motor both ends and the second freedom motor inside
Effectively utilizes have been obtained, it is mixed compared to ordinary quaternary column structure two-freedom motor (Fig. 1) and orthohormbic structure two-freedom
Box-like stepping motor (Fig. 2) mechanical integrity is higher.
8th, it is convenient that performance test and experimentation are carried out to motor.Two freedom motors of the present utility model are mutually only
Vertical, and be complete column structure motor, respective slewing area is all higher than 360 °, thus can carry out respectively performance test and
Experimentation.Wherein, the first freedom motor is the inner rotor motor of double shafts, directly as test prototype and can carry out performance
Test experiments；Second freedom motor is external rotor electric machine, rotating shaft can be installed on rotor and constitutes test prototype, and then progressive
Can test experiments.
As can be seen that combined orthogonal column structure two-freedom hybrid type stepping motor of the present utility model and tradition
Multiple degrees of freedom 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, be capable of achieving the higher advantage of opened loop control, opened loop control positioning precision, greatly reduces motor and drive
The overall manufacture of autocontrol system and R＆D costs, are beneficial to promote and realize multiple degrees of freedom motor (especially two-freedom
Motor) practical, industrialization and commercialization.
Description of the drawings
Fig. 1 is the overall structure figure of orthogonal column structure two-freedom motor；
Fig. 2 is the overall structure figure of orthohormbic structure two-freedom hybrid type stepping motor；
Fig. 3 is the overall structure figure 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 side view of the present utility model；
Fig. 6 is the first freedom motor of the present utility model and base overall structure figure；
Fig. 7 is the second freedom motor of the present utility model and output shaft overall structure figure；
Fig. 8 is the first freedom motor structure decomposition figure of the present utility model；
Fig. 9 is the second freedom motor structure decomposition figure of the present utility model；
For each winding wiring figure of stator winding of the freedom motor of this utility model first, ("×" represents winding to Figure 10 in figure
Inwards, " " represents that the vertical paper of winding direction is outside to the vertical paper in direction)；
Figure 11 is each winding wiring figure of stator winding of the freedom motor of this utility model second；
Figure 12 is the first freedom motor extreme rotational angle schematic diagram of the present utility model；
Figure 13 is the second freedom motor extreme rotational angle schematic diagram of the present utility model；
Figure 14 is output shaft terminal point running orbit scope schematic diagram of the present utility model；
Figure 15 is the experiment test model machine overall structure figure (stator of test prototype of the freedom motor of this utility model second
Each winding wiring mode such as Figure 11 of winding)；
Figure 16 is the experiment test prototype structure exploded view (stator of test prototype of the freedom motor of this utility model second
Each winding wiring mode such as Figure 11 of winding).
In figure, the freedom motors of 1-4. first, the freedom motors of 2-4. second, 3-4. output shafts, 4-4. bases, 5. stator
End cap (not magnetic conduction), 6. rotor endcap (not magnetic conduction), 7.X axle bearings, 8. rotor core, 9. rotating shaft, 10. permanent magnet, 11. stators
Iron core, 12.Y axle bearings, 13.Y axle bearings set axle, 14. mechanical linkages, 15. stator winding, the operation of 16. output shaft terminal points
Track place sphere, 17. 60 ° of east longitude warps, 18. 45 ° of south latitude parallels, 19. 60 ° of west longitude warps, 20. 45 ° of north latitude parallels, 21.
Second freedom motor test prototype rotating shaft, 22. second freedom motor test prototype rotor endcaps, 23. second degree of freedom electricity
Machine test prototype base.
Specific embodiment：
Below in conjunction with the accompanying drawings the utility model is described in further detail with embodiment.
A kind of combined orthogonal column structure two-freedom hybrid type stepping motor, as shown in figure 4, including first freely
Degree motor 1-4, the second freedom motor 2-4, output shaft 3-4 and base 4-4, the first freedom motor 1-4 is inner rotor motor,
Including rotor portion, stationary part, stator end cap 5, rotating shaft 9, the second freedom motor 2-4 is external rotor electric machine, including rotor
Partly, stationary part, rotor endcap 6；The rotor portion structural principle of described two freedom motors is identical, including annular permanent magnet
Two sections of annulars of body 10 and its both sides laminate rotor core 8, the outside of rotor core 8 (the first freedom motor 1-4) or inner side (the
Two-freedom degree electric machine 2-4) some little teeth are evenly arranged, mutual wrong 1/2 tooth pitch of the little tooth on two-stage rotor iron core 8；It is described two from
Laminating stator cores 11, stator winding 15, the inner side of stator core 11 (the first degree of freedom electricity are included by the stationary part of degree motor
Machine 1-4) or outside (the second freedom motor 2-4) magnetic pole is distributed with, stator winding 15 is provided with interpolar groove, on the pole shoe of magnetic pole
It is distributed with and the little tooth of some stators of the little tooth tooth pitch identical of rotor；Volume in the stator core 11 of the second freedom motor 2-4
Be externally provided with bearing 12 and bearing holder (housing, cover) axle 13, bearing 12 coordinates with rotor endcap 6, rotor portion by rotor endcap 6, bearing 12,
Bearing holder (housing, cover) axle 13 is fixed together with stator core 11；The center of stator end cap 5 of the first freedom motor 1-4 is provided with bearing
7, rotor portion center is provided with rotating shaft 9, and bearing 7 coordinates with rotating shaft 9, and stator core 11 passes through stator end cap 5, bearing 7, rotating shaft 9
It is fixed together with rotor portion.
The base 4-4 is fixed with the stator end cap 5 of the first freedom motor 1-4, and stator end cap 5 is consolidated with stator core 11
It is fixed, therefore the stator end cap 5 and stationary part of the first freedom motor 1-4 is in space transfixion, and rotor portion and rotating shaft 9
Can within the specific limits rotate around stator and rotor central axis X axle；
Stator ferrum of the stator core 11-1 external diameters of the first freedom motor 1-4 less than the second freedom motor 2-4
Heart 11-2 external diameters, and sufficiently large notch is provided with inside the stator core 11-2 of the latter so that the first freedom motor 1-4 is whole
Body can embed notch the inside；
The stator core 11-2 of the second freedom motor 2-4 is provided with mechanical linkage 14, one end of mechanical linkage 14
Fix with the stator core 11-2 of the second freedom motor 2-4, the other end is fixed with the rotating shaft 9 of the first freedom motor 1-4, is made
X-axis and the second freedom motor 2-4 stator and rotor central axis Y-axis perpendicular quadrature, therefore the first freedom motor 1-4
Rotating shaft 9 can drive the second freedom motor 2-4 integrally to rotate within the specific limits around X-axis；
The outside of rotor endcap 6 of second freedom motor is provided with output shaft 3-4, and rotor portion can drive output shaft 3-
4 rotate within the specific limits around Y-axis, and output shaft 3-4 can connect load equipment.
This utility model realizes that two-freedom operation logic is as follows：As shown in Fig. 4, Fig. 6, Fig. 8, Figure 10, the first degree of freedom
The stationary part (including stator core 11-1, bearing 7-1 and 7-2 and stator winding 15-1～15-8) of motor 1-4 and stator terminal
Lid 5-1,5-2 are maintained static by base 4-4, when biphase stator winding is powered by the order of (+A)-(+B)-(- A)-(- B)
When, rotor portion (including rotor core 8-1,8-2 and permanent magnet 10-1) and rotating shaft 9 can be turned by bearing 7-1,7-2 around X-axis
It is dynamic, and drive output shaft 3-4 and the second freedom motor 2-4 integrally to turn about the X axis.On this basis, when the second degree of freedom electricity
When the biphase stator winding (15-9～15-12) of machine 2-4 is powered by the order of (+A)-(+B)-(- A)-(- B), its stator department
Dividing can pass through Y-axis axle (including stator core 11-2, Y-axis bearing 12, Y-axis bearing holder (housing, cover) axle 13 and stator winding 15-9～15-12)
Hold 12 to rotate around Y-axis, and drive output shaft 3-4 to rotate around Y-axis, as shown in Fig. 4, Fig. 7, Fig. 9, Figure 11.Therefore, output shaft 3-4
Can rotate rotating around X-axis, Y-axis in the case where the first freedom motor 1-4, the second freedom motor 2-4 drive, and two degree of freedom
The motion of motor is separate, so as to realize that two-freedom is moved.Because X-axis and Y-axis are in space perpendicular quadrature all the time, intersection point position
The centre of sphere constant and for integrated motor is put, and the central axis of output shaft 3-4 passes through the centre of sphere, therefore in motor rotation process
In, the constant distance of output shaft 3-4 terminal points to the centre of sphere is constant, i.e. the running orbit of output shaft 3-4 terminal points position all the time
On same sphere 16, running orbit scope is limited to the extreme rotational angular range of two freedom motors.Wherein, first certainly
By the θ in the extreme rotational angle such as Figure 12 of degree motor 1-41Shown, the extreme rotational angle of the second freedom motor 2-4 is as schemed
θ in 132It is shown.With the extreme rotational angle, θ of two freedom motors1=60 °, θ2=45 °, step angle is (per step run one
The mechanical angle that turns over of step) as a example by 1.8 °, the operation area of output shaft 3-4 terminal points be included in just 60 ° of warps 17 of east longitude,
Within the scope of the spherical area that 45 ° of parallels 18 of south latitude, 60 ° of warps 19 of west longitude, 45 ° of parallels 20 of north latitude are surrounded, as shown in figure 14,
Dot matrix in the range of this spherical area is all positions in the output shaft 3-4 terminal points space to be reached.By Figure 14
It can be seen that, the step angle of motor is less, then adjacent 2 points of spherical distance is nearer in dot matrix, represents output shaft 3-4 terminal points
Positioning precision is higher.In the middle of actual, generally using electric current Multi-level microstep mode, (hybrid type stepping motor is driven using electric current subdivision
Flowing mode is prior art, is general knowledge known in this field) to reduce step angle, and electric current high-subdividing number is bigger, step angle is less,
Positioning precision is higher.For example, when using 64 electric current Multi-level microstep, step angle can be reduced to 1.8 °/64, about 0.03 °, this
It has been very high positioning precision under the conditions of open loop operation.
This utility model is typically used as two-phase motor structure, and Figure 10, Figure 11 are respectively this utility model as biphase electricity
The stator winding wiring schematic diagram of the first freedom motor 1-4 and the second freedom motor 2-4 during motivation, stator winding 15-1～
15-12 is concentratred winding, is wrapped on the magnetic pole of stator core 11-1,11-2.First freedom motor 1-4 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 belongs to this area
Common knowledge, here introduces the second freedom motor 2-4.As shown in figure 11, same phase stator winding is wrapped in adjacent
On two magnetic pole of the stator and coiling (such as A phase stator winding 15-9,15-10) in opposite direction, this two neighboring magnetic pole of the stator is mutual
Stagger (k+0.5) θrMechanical angle；The biphase stator winding of A, B with identical coiling direction is (such as A phase stator winding 15-9 and B
Phase stator winding 15-11) two magnetic pole of the stator being located mutually stagger (180 ° of ± θr/ 4) mechanical angle.Wherein, k is just whole
Number, θrFor rotor tooth elongation (mechanical angle), the selection of k need to ensure between two magnetic pole of the stator that same phase stator winding is located
A certain size space is left, to facilitate stator winding is embedded.For example, A phases stator winding 15-9 and 15-10 place in Figure 11
Two magnetic pole of the stator mutually stagger (3+0.5) θr(θr=7.2 °), A phase stator winding 15-9 and B phase stator winding 15-11 is located
Two magnetic pole of the stator mutually stagger (180 °+1.8 °).
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. 4, Fig. 6, Fig. 7, Figure 15, Figure 16
Test and experiment research.This utility model motor overall (such as Fig. 4) is by two separate complete column structure electricity
Machine composition, i.e. the first freedom motor 1-4 (such as Fig. 6) and the second freedom motor 2-4 (such as Fig. 7), and can construct respectively
Test prototype simultaneously carries out experiment test.Wherein, the first freedom motor 1-4 is the common hybrid type stepping motor of double shafts,
Experiment test can be carried out directly as test prototype, as shown in Figure 6.Second freedom motor 2-4 is special outer rotor mixing
Formula stepping motor, due to without rotating shaft, thus the more difficult experiment test that directly carries out, it is necessary to construct shown in Figure 15, Figure 16
Test prototype, specific configuration method is as follows：(1) rotor endcap 22, the center of rotor endcap 22 are installed in the side of rotor portion
Place is provided with rotating shaft 21；(2) in the opposite side mounting seat 23 of rotor portion, base 23 is fixed with stator core 11-2 by screw
Together.For the test prototype of two freedom motors, when biphase stator winding is by (+A)-(+B)-(- A)-(- B's)
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 includes：(1) no load test, no-load back electromotive force of the metrical prototype under certain rotating speed, to verify sample are carried out
The accuracy and reasonability of machine zero load Electromagnetic Design；(2) static load experiment, the torque angle displacement characteristic of metrical prototype, to verify are carried out
The accuracy and reasonability of static torque design under model machine loading condition；(3) steady state load experiment, the square frequency of metrical prototype are carried out
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 to rise
Dynamic experiment, maximum starting frequency under the zero load of metrical prototype and loading condition, to determine the starting speed scope of model machine；(5) enter
Row open loop operation positioning precision test experiments, by installing encoder or angular transducer in model machine rotating shaft, can measure sample
The angular values (multigroup measurement can be carried out in the case of different loads) of machine actual rotation, this measured value and opened loop control are transported
Theoretical values (driver exports total umber of pulse and is multiplied by model machine step angle) under the conditions of row are compared, and can carry out error point
Analysis, so that it is determined that the open loop operation positioning precision of model machine.
It is not new to this practicality although the above-mentioned accompanying drawing that combines is described to specific embodiment of the present utility model
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 make by need not paying creative work
Within enclosing.
Claims (10)
1. a kind of combined orthogonal column structure two-freedom hybrid type stepping motor, is characterized in that：Including the first degree of freedom
Motor, the second freedom motor and output shaft, wherein, first freedom motor be cylindrical-shaped structure, and described first from
By degree motor with the basal diameter direction of its cylindrical-shaped structure as rotating shaft, rotate around the shaft；
Second freedom motor is cylindrical-shaped structure, is arranged on the outer of first freedom motor, and by first from
It is loaded on inside it by degree motor set, and its axle center is orthogonal with the axis perpendicular of first freedom motor, described second freely
Degree motor is rotated around it with the axle center of the first freedom motor as rotating shaft；
Second freedom motor keeps relative to the first degree of freedom electricity again during rotating with the first freedom motor
The self-movement of machine so that be arranged on the motion that the output shaft on the outside of it realizes two degree of freedom.
2. combined orthogonal column structure two-freedom hybrid type stepping motor as claimed in claim 1 a kind of, its feature
It is：First freedom motor is inner rotor motor, including rotor portion, stationary part and rotating shaft, the rotor portion leads to
The center that rotating shaft is arranged on stationary part is crossed, the rotor portion includes that annular permanent magnet and its two sections of annulars of both sides are laminated
Rotor core, rotor core outside is evenly arranged some little teeth, and stationary part includes laminating stator cores, stator winding, fixed
Sub inner side unshakable in one's determination is distributed with magnetic pole, and in interpolar groove stator winding is provided with.
3. combined orthogonal column structure two-freedom hybrid type stepping motor as claimed in claim 1 a kind of, its feature
It is：Second freedom motor is external rotor electric machine, including rotor portion, stationary part and rotating shaft, the rotor portion leads to
The center that rotating shaft is arranged on stationary part is crossed, the rotor portion includes that annular permanent magnet and its two sections of annulars of both sides are laminated
Rotor core, rotor core inner side is evenly arranged some little teeth, and stationary part includes laminating stator cores, stator winding, fixed
Sub outside unshakable in one's determination is distributed with magnetic pole, and in interpolar groove stator winding is provided with.
4. as claimed in claim 2 or claim 3 a kind of combined orthogonal column structure two-freedom hybrid type stepping motor, it is special
Levying is：Mutual wrong 1/2 tooth pitch of little tooth on the two-stage rotor iron core of the rotor portion, between the little tooth of stator being distributed on pole shoe
Tooth pitch is identical with the little tooth tooth pitch of rotor.
5. combined orthogonal column structure two-freedom hybrid type stepping motor as claimed in claim 1 a kind of, its feature
It is：The stationary part of first freedom motor is in space transfixion, and rotor portion and rotating shaft can be around stator and rotor centers
Axis is rotated within the specific limits.
6. combined orthogonal column structure two-freedom hybrid type stepping motor as claimed in claim 1 a kind of, its feature
It is：The frame diameter of first freedom motor is less than the frame diameter of the second freedom motor, and second
Notch is offered inside the stator core of freedom motor, first freedom motor can embed notch the inside.
7. combined orthogonal column structure two-freedom hybrid type stepping motor as claimed in claim 1 a kind of, its feature
It is：The stator core of second freedom motor is provided with mechanical linkage, one end of mechanical linkage and the second freedom motor
Stator core fix, the other end is fixed with the rotating shaft of the first freedom motor so that the stator and rotor of the first freedom motor
Central axis is orthogonal with the stator and rotor central axis upright of the second freedom motor, and the rotating shaft of the first freedom motor drives the
The overall stator and rotor central axis around the first freedom motor of two-freedom degree electric machine is rotated within the specific limits.
8. combined orthogonal column structure two-freedom hybrid type stepping motor as claimed in claim 1 a kind of, its feature
It is：The running orbit of the output shaft terminal point is always positioned on same sphere, and running orbit scope is limited to two freedom
The extreme rotational angular range of degree motor.
9. combined orthogonal column structure two-freedom hybrid type stepping motor as claimed in claim 1 a kind of, its feature
It is：Same phase stator winding is wrapped on adjacent two magnetic pole of the stator and coiling is in opposite direction, this two neighboring magnetic pole of the stator
Mutually stagger (k+0.5) θrMechanical angle；Two magnetic pole of the stator phases that biphase stator winding with identical coiling direction is located
Mutually stagger (180 ° of ± θr/ 4) mechanical angle, wherein, k is positive integer, θrFor rotor tooth elongation.
10. combined orthogonal column structure two-freedom hybrid type stepping motor as claimed in claim 1 a kind of, its feature
It is：Construction two-freedom hybrid type stepping motor when, carry out two motors no load test, static load experiment, stable state bear
Carry experiment, start experiment and open loop operation positioning precision test experiments, to determine respective unloaded electromagnetism, loading condition under it is static
Torque, the optimum operation range of speeds, starting speed scope and open loop operation positioning precision.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621137868.7U CN206117468U (en) | 2016-10-19 | 2016-10-19 | Combined two degrees of freedom on quadrature cylinder structure hybrid step motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621137868.7U CN206117468U (en) | 2016-10-19 | 2016-10-19 | Combined two degrees of freedom on quadrature cylinder structure hybrid step motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341027A (en) * | 2016-10-19 | 2017-01-18 | 山东大学 | Combined type two-degree-freedom mixed type stepping motor with orthogonal cylindrical structure for robot and application thereof |
| CN107659114A (en) * | 2017-06-11 | 2018-02-02 | 珠海磐磊智能科技有限公司 | Motor, control moment gyroscope and mobile devices |
| 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 |
| US11411485B2 (en) * | 2020-01-29 | 2022-08-09 | Honeywell International Inc. | Multi-degree-of-freedom electromagnetic machine |
-
2016
- 2016-10-19 CN CN201621137868.7U patent/CN206117468U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341027A (en) * | 2016-10-19 | 2017-01-18 | 山东大学 | Combined type two-degree-freedom mixed type stepping motor with orthogonal cylindrical structure for robot and application thereof |
| CN106341027B (en) * | 2016-10-19 | 2018-08-24 | 山东大学 | Combined orthogonal cylindrical structure two-freedom hybrid type stepping motor and its application |
| CN107659114A (en) * | 2017-06-11 | 2018-02-02 | 珠海磐磊智能科技有限公司 | Motor, control moment gyroscope and mobile devices |
| 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 |
| US11411485B2 (en) * | 2020-01-29 | 2022-08-09 | Honeywell International Inc. | Multi-degree-of-freedom electromagnetic machine |
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