WO2003063324A1 - Moteur pas-a-pas magnetique permanent - Google Patents

Moteur pas-a-pas magnetique permanent Download PDF

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Publication number
WO2003063324A1
WO2003063324A1 PCT/CN2003/000049 CN0300049W WO03063324A1 WO 2003063324 A1 WO2003063324 A1 WO 2003063324A1 CN 0300049 W CN0300049 W CN 0300049W WO 03063324 A1 WO03063324 A1 WO 03063324A1
Authority
WO
WIPO (PCT)
Prior art keywords
permanent magnet
stepping motor
coil
motor according
mover
Prior art date
Application number
PCT/CN2003/000049
Other languages
English (en)
Chinese (zh)
Inventor
Jinming Zhang
Original Assignee
Jinming Zhang
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN 02100723 external-priority patent/CN1392656A/zh
Priority claimed from CN 02146517 external-priority patent/CN1416207A/zh
Application filed by Jinming Zhang filed Critical Jinming Zhang
Publication of WO2003063324A1 publication Critical patent/WO2003063324A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors

Definitions

  • the invention relates to a motor, in particular to a permanent magnet stepping motor.
  • Stepper motors are widely used to precisely control the relative motion between objects. Over time, people have been expanding its application range, such as combining computers with stepper motors. However, in the manufacture of robots, the use of computers to manipulate complex control systems to make robots move freely like humans has not yet been achieved. The main reasons are: The stepping motor used as the "muscle" of the robot is not easy to be intelligent. It does not have a sensory function of its own running state, and it has no information feedback during the operation, and cannot exert the powerful advantages of the computer.
  • a rotary stepper motor is provided to convert the rotary motion of the motor rotor directly into a linear motion through a screw rod and a nut 3 ⁇ 4 ].
  • this structure is relatively complicated and difficult to be miniaturized. Because it has a power transmission device, the response speed and accuracy cannot be very high.
  • the inventor of the present invention provided a "permanent magnet simple stepper motor" in a patent application with an application number of 02100723.3, and the technical solution of the patent application changed the structure of the stepper motor through the interaction between the stator and the mover.
  • Motion to generate kinetic energy the invention provides a linear stepper motor and a curved stepper motor, which solves the problem of slow response speed, although this method can make the mover reach the target position quickly, but in operation How much resistance is encountered, whether the target is deviated due to external forces while maintaining target positioning, and how much external force is received.
  • the object of the present invention is to provide a permanent magnet type stepping motor with simple structure, easy miniaturization, fast response speed, and capable of sensing its own operating state.
  • a permanent magnet type stepping motor which includes a stator and a mover, characterized in that: the stator is a single-winding wire bobbin with multiple taps in the middle, The mover is disposed in the wire tube, and the mover is a permanent magnet with NS poles at both ends of the wire tube which is not disposed in the length direction.
  • a feedback coil is respectively connected to the two ends of the permanent magnet NS pole, and a filler is provided between the two ends of the permanent magnet NS pole and the feedback coil; the filler is an elastic material; a spring or a spring is used as the elastic material.
  • the bobbin is wound by a conductive material, and is wound at least one layer at a position of a circle, leaving at most one tap.
  • the minimum gap between the permanent magnet and the wire tube is set to a dynamic fit tolerance dimension.
  • the working principle of the invention is:
  • a single wire is wound, and a bobbin with multiple taps in the middle is used as a stator.
  • a length extension tube is set in the line tube, and the permanent magnets with NS poles at both ends are movers.
  • a section of wire tube of the same length as the permanent magnet mover is selected, and direct current is applied to generate a magnetic field attracted by the mover in the section of wire tube. Keep the length of the line tube being energized unchanged, change the electrode on the line tube, and the permanent magnet mover will move with it. If the stator tube is properly bent, the permanent magnet mover can also perform curved motion. If the tube can be manufactured using microelectronics technology, the permanent magnet mover is manufactured using ultrasonic or laser processing technology, and it can also be made into a miniature stepping motor.
  • Feedback coils are installed at the two ends of the permanent magnet NS poles. When some coils in the bobbin are continuously rolling and energized to drive the permanent magnet mover in a certain direction, the permanent magnet mover and the feedback coil are opposed to the energized partial coils. The position does not change, and the feedback coil does not generate feedback information. If resistance is encountered, the coil of the coil is energized, and when it cannot be synchronized with the permanent magnet mover, the feedback coil generates an induced current while approaching the coil of the coil. . If there is an external force that changes the relative position of the permanent magnet mover and the coil of the energized part on the bobbin, the feedback coil changes the distance from the coil of the energized part at the same time to generate feedback information.
  • the permanent magnet stepping motor designed and manufactured by the present invention is wound by a single wire, and a stator coil with multiple taps is left in the middle.
  • An extension tube direction is set in the wire tube, and the permanent magnets with NS poles at both ends are moving elements.
  • Feedback coils can also be installed at the two ends of the sub-frame. The structure is simple and the speed is fast.
  • the automatic control function of the stepper motor is added.
  • the computer's ability can be fully utilized.
  • the information provided by the feedback coil is used to make the computer pass the stepper motor Communicate with the external environment, and realize the intelligence of stepper motor.
  • FIG. 1 is a cross-sectional view of the internal structure of the first embodiment of the present invention
  • FIG. 2 is a cross-sectional view of the internal structure of the second embodiment of the present invention.
  • the present invention is composed of a stator bobbin 1, a permanent magnet mover 2, a feedback coil 3, a filler 4 and a stator bobbin tap 5.
  • the stator bobbin 1 is a single-wire-wound tubular coil with multiple taps in the middle;
  • the permanent magnet mover 2 is a magnet rod with NS poles at both ends;
  • the feedback coil 3 is fixed to the permanent magnet by a filler 4
  • the two ends of the NS pole of the sub 2 are filled with an elastic material.
  • the elastic material is preferably a spring leaf, and a spring can also be used.
  • the permanent magnet mover 2 When current is applied to the group A coil on the stator bobbin 1, the permanent magnet mover 2 attracts each other and remains stationary. If the permanent magnet mover 2 deviates from the group A coil due to external force, the periphery of the feedback coil 3 is now The magnetic field changes, and an induced current is generated.
  • the electrode of the coil of the current-carrying part of the stator bobbin 1 moves from the group A to the group B, the permanent magnet mover 2 moves accordingly, keeping the two relatively stationary, and the feedback coil 3 does not generate an induced current. If an external force prevents it, a misalignment occurs between the current-carrying part coil and the permanent magnet mover 2, the magnetic field around the feedback coil 3 also changes, and an induced current is generated.
  • the filler 4 is made of an elastic material, whether the motor is on, off, running or stationary, the distance between the feedback coil 3 and the permanent magnet mover 2 is changed.
  • the feedback coil 3 also generates an induced current.
  • the induced current information generated by the feedback coil 3 is processed by the computer to decide whether to advance, step back, stop the stepper motor, or start other motor assistance.
  • the result of this motor operation depends on the resistance encountered by the driver and the stepper motor during operation.
  • the sensory function of the feedback coil 3 makes the stepper motor a bridge between the computer and the outside world. Become the ideal robot "muscle".
  • this embodiment is a stepping motor that moves linearly. It includes a set of stator coil 1, permanent magnet mover 2, and stator coil tap 5.
  • the selected electrode 6 and the data distributor plus The phaser 7 is configured.
  • the stator bobbin 1 is wound by a single wire, and each position of the coil is wound at least one layer, and multiple layers can be wound. A maximum of one tap is left.
  • the tap is a stator pipe tap 5, and one of the stator pipe taps 5 is set.
  • the group is selected electrodes 6.
  • a data distributor and an inverter 7 are used to drive a segment of the conduit of the stator bobbin 1 and the permanent magnet mover 2 of the same length so as to generate a magnetic field attracting the permanent magnet mover 2; to protect the energized stator bobbin 1
  • the length of is unchanged, the selected electrode 6 is continuously transformed or the selected electrode 6 is transformed at an appropriate interval; the permanent magnet mover 2 moves accordingly.
  • the permanent magnet mover 2 can reach the designated position quickly and accurately. With this advantage, it can be made into a miniature stepper motor for a stepper matrix display. It can also be used as the "muscle" of the robot, making it simple and easy to control.
  • the stator and the mover can be switched to each other as required.
  • the design and manufacture of the permanent magnet type stepping motor of the present invention has a simple structure, easy miniaturization, and fast running speed, so that it can feel its own running state, it has increased its automatic control function, can give full play to the capabilities of the computer, and utilize feedback
  • the information provided by the coil enables the computer to communicate with the external environment through the stepper motor, realizing the intelligence of the stepper motor, and the product can realize large-scale and industrial production.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)

Abstract

Cette invention concerne un moteur pas-à-pas magnétique permanent. Son objet est de produire un moteur pas-à-pas magnétique permanent d'une structure simple, d'un type facilement miniaturisé et pouvant sentir de façon autonome son état de fonctionnement. Le résumé de cette invention rapporte un moteur pas-à-pas magnétique permanent, lequel comprend un stator et un mécanisme, le stator est formé sur un tube de bobine présentant des prises multiples par enroulement d'une seule bobine et le mécanisme est un aimant permanent dont le pôle NS est agencé sur les extrémités opposées et disposé à l'intérieur du tube de bobine, dans le sens parallèle au tube de bobine, et une bobine de retour est ajoutée sur les deux extrémités de l'aimant permanent. L'avantage du moteur selon cette invention réside dans une structure simple, un fonctionnement à régime élevé, l'addition de la fonction d'auto-contrôle, et il permet d'obtenir un moteur pas-à-pas intelligent du fait de la capacité d'un ordinateur à utiliser les informations des bobines de retour et la communication entre l'ordinateur et l'environnement par le moteur pas-à-pas.
PCT/CN2003/000049 2002-01-21 2003-01-20 Moteur pas-a-pas magnetique permanent WO2003063324A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN02100723.3 2002-01-21
CN 02100723 CN1392656A (zh) 2002-01-21 2002-01-21 永磁式简易步进电机
CN02146517.7 2002-10-21
CN 02146517 CN1416207A (zh) 2002-10-21 2002-10-21 智能步进电机

Publications (1)

Publication Number Publication Date
WO2003063324A1 true WO2003063324A1 (fr) 2003-07-31

Family

ID=27614077

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2003/000049 WO2003063324A1 (fr) 2002-01-21 2003-01-20 Moteur pas-a-pas magnetique permanent

Country Status (1)

Country Link
WO (1) WO2003063324A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4658214A (en) * 1982-12-28 1987-04-14 Polaroid Corporation Magnetic position indicator using multiple probes
US5091665A (en) * 1989-09-05 1992-02-25 Kelly H P G Linear motors
CN2112226U (zh) * 1991-12-04 1992-08-05 吴延陵 螺线管式电机
CN2445112Y (zh) * 2000-08-03 2001-08-29 滕征森 内置永磁直线动力的压缩机

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4658214A (en) * 1982-12-28 1987-04-14 Polaroid Corporation Magnetic position indicator using multiple probes
US5091665A (en) * 1989-09-05 1992-02-25 Kelly H P G Linear motors
CN2112226U (zh) * 1991-12-04 1992-08-05 吴延陵 螺线管式电机
CN2445112Y (zh) * 2000-08-03 2001-08-29 滕征森 内置永磁直线动力的压缩机

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