CN2768298Y

CN2768298Y - Cycloid stepper motor

Info

Publication number: CN2768298Y
Application number: CN 200420013588
Authority: CN
Inventors: 罗伯特·查佛里
Original assignee: WEIYING FIBRE-OPTIC COMMUNICATION Co Ltd
Current assignee: Weiying Driving Technology Co., Ltd.
Priority date: 2004-12-30
Filing date: 2004-12-30
Publication date: 2006-03-29
Anticipated expiration: 2014-12-30

Abstract

The utility model discloses a cycloid step motor which comprises a control circuit, a stator, a rotor and a pair of drive gears of a cycloid motion engagement mode, wherein each drive gear comprises an input gear and an output gear; the stator is a stator piece made from soft magnetic materials, and the central position of the stator has a rotor hole which can contain the rotor; a coil is arranged beside the stator piece which has at least three clearances in the radial direction; the rotor is composed of a permanent magnet rotor and a rotor shaft; one end of the rotor shaft is connected with the input gear, and the other end of the rotor shaft is connected with the fixed part of the motor by a swinging toggle joint; one end of the output gear is connected with an output shaft, and the input gear is engaged with the output gear. The cycloid step motor of the technical scheme of the utility model has the advantages of high transmission precision, high resolution, a small amount of gears, simple structure, low mechanical noise, low systemic resistance and high transmission efficiency. Because the utility model is the design with multiple magnetic poles, the motor can be driven to rotate freely in a bidirectional mode, and the range of application of the utility model is more extensive.

Description

Cycloid stepper motor

Technical field

The utility model relates to a kind of stepping motor, especially relates to a kind of electromagnetic actuator device of high-resolution cycloid motion meshed transmission gear mode stepping motor.

Background technology

In modern instrument, clock and watch and other precise electronic industries, need a large amount of use low cost, high-resolution precision stepper motor.As everyone knows, its specific practice is to use polyphase electromagnetic system (two-phase at least) to be equipped with the magnetite and the simple magnetic conduction construction of trying one's best of simple geometric shape as far as possible again, also needs the accurate gear reduction system of a cover simultaneously.In the production and use of reality, there are following three problems at least in present this stepping motor:

1. in order to reach necessary accuracy,, therefore, need many precision gears just use traditional gear transmission mode to need multistage transmission can reach the speed reducing ratio of expection, complex structure, volume is bigger, and cost is very high;

2. gear and the frictional resistance between its central shaft that produces during gears engaged is bigger, and promptly the gear train assembly resistance is bigger, and transmission efficiency is low;

3. owing to be multistage transmission, the gear number is many, therefore because the noise that gear drive produced is bigger.Excessive noise can be given and produce, operational environment, even brings noise pollution to surrounding environment.

In order to overcome the above problems, american documentation literature US5579290A discloses a kind of epicycloid stepping motor, and shown in Fig. 1 a and Fig. 1 b, the stator of motor comprises the

pole piece

1 and 2 of two axial wobbles.In the slit or inner chamber of described pole piece, be provided with one by the cylindrical rotor 5 of axial magnetized.Rotor is provided with external tooth 3, and stator is provided with internal tooth 4, and both mesh together.By the attraction of

pole piece

1 and 2, rotor 5 is set on the unexcited stator.With the pulse of suitable polarity to the stator excitation after, rotor will move to its another radially relative settling position.In the process of rotor displacement, external tooth 3 meshes together all the time with internal tooth 4, consequently makes rotor produce an angular displacement, and the size of angular displacement is with the number of teeth different change of external tooth 3 with internal tooth 4.Alternately alternate by opposite polarity pulse, can carry out micro-control to the rotation of motor at an easy rate.

Though this epicycloid stepping motor has solved the existing problem of present stepping motor effectively, but, because the design of its electromagnetic system is single-phase, so motor can only be done unidirectional rotation, only limit in watchmaking, use, and its transmission mechanism more complicated.

Summary of the invention

The purpose of this utility model is in order to overcome the existing defective of epicycloid stepping motor, to adopt a kind of new electromagnetic structure and type of drive, thereby a kind of simple and effective Cycloid stepper motor of cycloid motion meshed transmission gear mode is provided.In order to realize this purpose, technical solution adopted in the utility model is:

Comprise control circuit, stator, the travelling gear of rotor and a pair of cycloid motion engagement system, the travelling gear of wherein said cycloid motion engagement system comprise input gear and output gear; Described stator is the stator piece of being made by soft magnetic material, and its center is provided with the rotor hole that holds rotor, is provided with coil on the next door of stator piece.In the gap that radially is provided with on the described stator piece more than three or three; Described rotor is made up of permanent magnet rotary and armature spindle, an end of the armature spindle described input gear of ining succession, and the armature spindle other end is connected with the motor standing part by the swing toggle; The described output gear one end output shaft of ining succession, input gear and output gear mesh together.

The described Cycloid stepper motor of technical solutions of the utility model, because what adopt is cycloid motion meshed transmission gear mode, the maximum characteristics of this kind of drive are, wherein the motion of at least one gear is to do swing rather than simple the rotation around its geometrical axis, can produce maximum gearratio with the space of minimum simultaneously, thereby guaranteeing transmission accuracy, guaranteeing under the high-resolution prerequisite of stepping motor, reduce the number of pinion unit gear, simplified structure, reduce mechanicalness noise, reduce systemic resistance, improve transmission efficiency.In addition, adopt the described Cycloid stepper motor of technical solutions of the utility model, can also dwindle the volume of motor, significantly reduce cost; And owing to be the design of many magnetic poles, motor can be driven and two-wayly freely rotate, and the scope of application is extensive.

Description of drawings

Fig. 1 is an epicycloid stepping motor electromagnetic system structure principle schematic

Fig. 2 is the utility model Cycloid stepper motor electromagnetic system structure principle schematic

Fig. 3 is the cutaway view of Fig. 2 along the A-A direction

Fig. 4 is the utility model Cycloid stepper motor motion schematic diagram

Fig. 5 makees the operation principle schematic diagram that stepping is rotated among the utility model Cycloid stepper motor embodiment 1

Fig. 6 is the electromagnetic system structure principle schematic of the another kind of embodiment of the utility model Cycloid stepper motor

Fig. 7 is the electromagnetic system structure principle schematic that the utility model Cycloid stepper motor has a kind of embodiment

Among the figure: 1. stator, 2. rotor, 3. input gear, 4. output gear, 5. rotor hole, 6. gap, 7. coil, 8. armature spindle, 9. swing toggle, 10. output shaft.

Embodiment

Embodiment 1: as shown in Figures 2 and 3, Cycloid stepper motor of the present utility model is except that comprising control circuit, also include the travelling gear of stator 1, rotor 2 and a pair of cycloid motion engagement system, gear comprises input gear 3 and output gear 4, input gear 3 has internal tooth, and output gear 4 has external tooth.Stator 1 is the stator piece of being made by soft magnetic material, roughly is rectangle, and the center is the rotor hole 5 that holds rotor; In the present embodiment, stator 1 is to make by such mode along the axial gap 6 of rotor hole, at three otch that interval 120 degree radially are set of stator piece upper edge rotor hole 5, the part between per two otch forms three magnetic pole end faces around rotor hole respectively; In addition, be respectively arranged with coil 7 in the both sides of stator piece.

Rotor 2 is made up of permanent magnet rotary and armature spindle 8.As shown in Figure 4, armature spindle 8 is connected with the motor standing part by swing toggle 9, makes rotor 2 can only center on its geometrical axis and does 360 and spend and freely swing and can not rotate; The other end of rotor 2 is ined succession and is imported gear 3, is used for when energising and output gear 4 engagements, the swing of transmitting rotor; Output gear 4 output shaft 10 of ining succession is limited to do 360 degree around its geometrical axis together with output shaft 10 and freely rotates.

When passing to the sinusoidal current of certain angle phase difference in sequence for respectively two coils 7, can produce four kinds of different Distribution of Magnetic Field shown in Fig. 5 a, Fig. 5 b, Fig. 5 c and Fig. 5 d at least in order successively.Rotor 2 by swing toggle 9, clocklike around its geometrical axis swing, is realized the stepping swing of 90 degree along with the rotation in magnetic field under the effect in magnetic field like this.

Drive input gear 3 during rotor 2 swings and do same swing, import gear 3 and output gear 4 engagements this moment, output gear 4 and output shaft 10 are because of being limited and can only rotating around its geometrical axis, the external tooth of the internal tooth of input gear 3 and output gear 4 forms the cycloid motion engagement system like this, and the stepping that makes output gear 4 drive 90 degree of output shaft 10 outputs after slowing down is rotated.

In this real embodiment, the number N of teeth of input gear 3 internal tooths ₁=90, the number N of teeth of output gear 4 external tooths ₂=89.According to the cycloid motion Principles of Gear Connection, output and the gearratio I=(N that imports ₁-N ₂)/N ₁=1/90, the speed reducing ratio of drive system is 90 like this, and promptly the resolution of stepping motor is 90 degree/90=1 degree.

Embodiment 2: present embodiment has the electromagnetic system structure different with embodiment 1, and as shown in Figure 6, stator 1 is to include three stator pieces.Form three gaps between three stator pieces; Another gap is to have an otch on therein the stator piece; Four gap radially evenly distributing along rotor hole.Four gaps of stator piece junction make stator form four magnetic pole end faces respectively between per two otch, when passing to the sinusoidal current of certain angle phase difference in sequence for respectively two coils, the magnetic field that coil produces is with 45 degree rotations, the stepping of stepping motor output 45 degree is rotated, and therefore has higher resolution.The structure of not addressing in the present embodiment is with identical among the embodiment 1.

Embodiment 3: as shown in Figure 7, stator is the stator piece of a slice integral body, and its structure forms three magnetic pole end faces naturally.Have three coils simultaneously, distribution is centrosymmetric.When passing to the sinusoidal current of certain angle phase difference in sequence for respectively two coils, the magnetic field that coil produces is with 60 degree rotations, and the stepping of stepping motor output 60 degree is rotated.Because the magnetic field of coil and generation thereof is centrosymmetric, so the rotation of stepping motor is more steady.The structure of not addressing in the present embodiment is with identical among the embodiment 1.

Claims

1. a Cycloid stepper motor comprises control circuit, and stator, the travelling gear of rotor and a pair of cycloid motion engagement system, the travelling gear of wherein said cycloid motion engagement system comprise input gear and output gear; Described stator is the stator piece of being made by soft magnetic material, and its center is provided with the rotor hole that holds rotor, is provided with coil on the next door of stator piece; It is characterized in that: described stator piece upper edge rotor hole radially is provided with the gap more than three or three; Described rotor is made up of permanent magnet rotary and armature spindle, an end of the armature spindle described input gear of ining succession, and the armature spindle other end is connected with the motor standing part by the swing toggle; The described output gear one end output shaft of ining succession, input gear and output gear mesh together.

2. Cycloid stepper motor according to claim 1 is characterized in that: described gap is radially to have three otch on stator piece, and three otch evenly distribute along the circumferencial direction of rotor hole, and the location interval at place, place is 120 degree.

3. Cycloid stepper motor according to claim 1 is characterized in that: described is four along stator piece gap radially; Described stator comprises three stator pieces, forms three gaps between three stator pieces; Another gap is to have an otch on therein the stator piece; Described four gaps evenly distribute along the circumferencial direction of rotor hole.

4. according to claim 1 or 2 or 3 described Cycloid stepper motors, it is characterized in that: the described coil that is provided with on the stator piece next door is two or more.

5. Cycloid stepper motor according to claim 4 is characterized in that: described rotor has two magnetic poles at least.