WO2005074107A1 - Bobine, application et materiel special necessaire a la fabrication de cette derniere - Google Patents

Bobine, application et materiel special necessaire a la fabrication de cette derniere Download PDF

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Publication number
WO2005074107A1
WO2005074107A1 PCT/CN2005/000055 CN2005000055W WO2005074107A1 WO 2005074107 A1 WO2005074107 A1 WO 2005074107A1 CN 2005000055 W CN2005000055 W CN 2005000055W WO 2005074107 A1 WO2005074107 A1 WO 2005074107A1
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WO
WIPO (PCT)
Prior art keywords
coil
wire
motor
control circuit
circuit
Prior art date
Application number
PCT/CN2005/000055
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English (en)
Chinese (zh)
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WO2005074107A8 (fr
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 CNA2004100007204A external-priority patent/CN1558430A/zh
Priority claimed from CN 200410069382 external-priority patent/CN1586830A/zh
Application filed by Jinming Zhang filed Critical Jinming Zhang
Priority to CN2005800016719A priority Critical patent/CN1906830B/zh
Publication of WO2005074107A1 publication Critical patent/WO2005074107A1/fr
Publication of WO2005074107A8 publication Critical patent/WO2005074107A8/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/26—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors consisting of printed conductors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/18—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with coil systems moving upon intermittent or reversed energisation thereof by interaction with a fixed field system, e.g. permanent magnets
    • 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
    • H02K41/035—DC motors; Unipolar motors
    • H02K41/0352—Unipolar motors
    • H02K41/0354—Lorentz force motors, e.g. voice coil motors
    • H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path

Definitions

  • the present invention relates to a coil and a special device for its application and preparation of the coil, in particular to an application using a linear stepper motor composed of a processed coil-wound bobbin, and a special device for preparing the coil.
  • the control of the robot's limb movement and robot arm movement is achieved by pneumatic or hydraulic systems. Because its system is relatively large and complex, it is not appropriate to control the changes in force and speed during the movement. In order to solve these problems, the application number is 0181903.
  • 3 invention patent technology which uses a rotating stepper motor to achieve extension and flexion of the robot's limb joints through variable-speed gears. Although it solves problems such as the system being oversized, it still has inflexible robot movements and is difficult to achieve. The defect of a wide range of speed changes can only accomplish some specific functions; the application number is 02100723.
  • 3 The invention patent discloses a simple permanent magnet type stepper motor.
  • the bobbin In order to obtain accurate micro-movement between the magnetic mover and the wire tube, It is also easy to attach electrodes to the coil.
  • the bobbin must be wound by a single layer of coil.
  • the coil is energized by the coil.
  • the stator moves the cutting magnetic field in the coil to generate the induced current to achieve the flexible movement of the stepper motor.
  • the coil is traditionally A single-layer bobbin made of round enameled wire over a unit length Limited number of winds, low density coils, the magnetic field strength generated by a small, defined range of use of the stepping motor, the stepping motor is more excellent properties can not be embodied.
  • an object of the present invention is to provide a special coil capable of satisfying a high density of coils arranged in a single layer and capable of generating an electromagnetic field of sufficient strength, a linear stepper motor constituted by the coil, and A linear stepping motor composed of a coil connected to a digital control circuit, and its application.
  • a dedicated device for preparing the coil of the present invention is also provided.
  • a coil is made of a conductive wire, and is characterized in that: the conductive wire is a thin sheet wire, and the thin sheet wire is spirally wound into a thin wire coil in one direction.
  • An insulating layer is provided between the sheet-shaped wire and the sheet-shaped surface of the sheet-shaped wire and is tightly connected; and a plurality of electrodes are provided on the surface of the sheet-wire coil.
  • the surface of the electrode and the thin-film wire coil is pasted, and the electrode is located at one or more of each turn of the thin-film wire coil, and one can be pasted at intervals.
  • a second object of the present invention is to provide a linear stepping motor, which includes a stator and a magnetic column.
  • the motor bobbin and power source composed of a body mover are characterized in that: the stator is composed of a coil wound with a wire, and the wire is a sheet-like wire, and the sheet-like wire is spirally wound into a sheet-wire coil in one direction; An insulation layer is provided between the lead and the sheet-like surface of the sheet-shaped lead, and is tightly connected; the surface of the sheet-wire coil is provided with a plurality of electrodes.
  • the surface of the electrode and the sheet wire coil are pasted, and the electrode is pasted at least one or several times per turn of the sheet wire coil.
  • the above-mentioned thin wire coil is wound into two parts in two sections, and the middle is connected by a switch tube.
  • the length of the magnetic cylinder mover is 1 / 3-2 / 3 of the length of the thin wire coil.
  • a digital driving circuit is connected between the above-mentioned motor wire tube and the power source to form a numerically controlled linear stepping motor.
  • the above digital driving circuit is composed of a digital signal generator, a switching circuit, a voltage control circuit, a multiplex control circuit, a maximum resistance control circuit, and a wake-up circuit; wherein the digital signal generated by the digital signal generator drives the switching circuit, and the switching circuit is connected to Between the voltage control circuit and the motor line tube, the voltage control circuit uses the information fed back by the motor line tube to adjust the electric H applied to the motor line tube; a counter built in the voltage control circuit outputs digital signals to drive
  • the multi-channel switch forms a multi-channel control circuit; and then communicates with several AND gate circuits to form a maximum resistance control circuit; the input end of the wake-up circuit is connected to the voltage control circuit, and receives feedback information sent by the motor wire tube into the voltage control circuit, and wakes up The circuit is connected to power.
  • the above-mentioned wake-up circuit includes a voltage comparator, an electrode is drawn from the motor bobbin, and the voltage comparator is connected.
  • the built-in reference voltage value of the voltage comparator is set to zero to form a zero-crossing detector, and the voltage comparator output
  • the magnetic cylinder mover in the motor wire tube is pushed by the external force and moves in its motor wire tube to cut the magnetic line of force to generate an induced current.
  • the electrode draws out the induced current.
  • the voltage comparator is input, and the output end of the voltage comparator is connected to the control switch to turn on the power.
  • the third object of the present invention is to disclose the application of the above-mentioned linear stepping motor.
  • An automatic balance system which is characterized in that it includes two of the above-mentioned numerically controlled linear stepper motors and a digital comparator sandwiched between the two numerically controlled linear stepper motors.
  • the digital comparator and the numerically controlled linear stepper The counter output terminal of the built-in voltage control circuit of the motor is connected, and the digital comparator sends positive, negative or zero signals, and then controls the linear stepping through different ports of the digital driving circuit of the linear stepping motor. The running status of the motor.
  • a synchronous drive device which is characterized in that it is composed of at least two of the above-mentioned numerically controlled linear stepper motors. Among them, a counter data output terminal provided in a voltage control circuit of one numerically controlled linear stepper motor and another numerically controlled The data input terminal of the counter in the voltage control circuit of the linear stepping motor is connected Then, a synchronous drive is formed through the interaction of data.
  • the fourth object of the present invention is to disclose a special device for preparing the coil of the present invention, specifically a rolling device for a thin wire coil, which includes a driving device, which is characterized in that it is also provided with:
  • a rotating shaft passes through the shaft sleeve, one end of the rotating shaft is connected with two oppositely arranged tapered rolls, and the other end is connected with a transmission wheel, and the driving device is respectively connected with the tapered roll and the transmission.
  • a feeding adjusting device with a feeding hole and a baffle fixing device are fixedly installed on the upper end of the conical roll; the baffle fixing device is located on the lower side of the conical roll and the baffle is fixed on each side;
  • the wire is led out by a lead frame of an external device, enters the tapered roll through a feeding hole, and is rolled into the sheet-shaped wire through the feed hole.
  • the taper angle of the above-mentioned tapered roll is 30 to 90 °.
  • a numerically controlled linear stepping motor composed of processed thin wire coils, has all its motion and sensing functions in the living body and skeletal muscle, and can be widely used in intelligent control in the field of robots.
  • the design principle of the present invention is based on an analysis of a living body, and the skeletal muscle of the living body is a muscle that drives skeletal movement.
  • an organ in the skeletal muscle is called a proprioceptor, and they are called “muscle spindle” and “tendon spindle”, respectively.
  • the “muscle shuttle” is a type of length sensor that provides feedback on the state of the muscle's contraction.
  • a “tendon shuttle” is a tension sensor that provides information about the resting tension and changes in tension in the muscle itself. The interaction between them is: When the muscle is stretched, the “muscle shuttle” is excited first, causing reflex activity, which causes the stretched muscle to contract to resist the stretch. When the strength of the stretch is further increased, it can be excited. The “tendon shuttle” inhibits this muscle contraction to avoid injury to the stretched muscle.
  • the maximum resistance control circuit can set the maximum external force that the NC linear stepper motor or a group of motors can withstand. When it exceeds the limit, the NC linear stepper motor moves in reverse, or other functions are turned on to avoid the excessive external force. Damage to the motor. This part of the circuit has the function of "tendon shuttle".
  • the present invention has the following advantages: Due to the high-density single-layer arrangement of thin-film wire coils, one layer of coils has the thickness of multiple layers of coils. As the excitation coil of a numerically controlled linear stepper motor, it can generate sufficient magnetic field strength. It is suitable for pasting electrodes on the surface, and can also be used on each surface. Multiple electrodes are attached in a circle to facilitate connection to the circuit. This coil has a strong self-supporting force, which can save the supporting skeleton and save space. Since each turn of the thin sheet wire passes through the inner coil of the coil, it is easy to conduct the heat generated inside the coil.
  • the numerically controlled linear stepper motor manufactured by the coil uses digital circuits to change the energized electrodes to promote the movement of the mover in the wire tube. It has no gears, no shafts, low friction, digital circuit control, clear target position, fast response speed, and operation Speed can be arbitrarily changed. Using it as the "muscle" of the robot can make the robot move freely and move faster than humans. NC linear stepper motors are widely used, and they can replace some machinery used for movement between two points, such as hydraulic or hydraulic devices. By virtue of the simple structure of the coil, micro-shaped motors and micro-generators can be manufactured and used in special technical fields. BRIEF DESCRIPTION OF THE DRAWINGS
  • Figure 1 is a schematic diagram of the shape of a linear stepping motor composed of a thin-film wire coil and a magnetic cylinder mover after the electrodes are adhered;
  • Figure 2 is a block diagram of the drive circuit of a NC linear stepper motor
  • FIG. 3 is a specific circuit connection diagram of FIG. 2;
  • FIG. 4 is a schematic structural sectional view of an electric wire tube formed by a special structure
  • FIG. 5 is a schematic structural diagram of a coil rolling device
  • FIG. 6 is a top view of FIG. 5.
  • the thin-film wire coil 1 of the present invention is closely arranged in the lengthwise direction of the thin-film wire, and a large flat surface is adhered with an insulating material between one round of the thin-wire and the next one Connected.
  • the coil surface is provided with a plurality of electrodes 3 connected to the driving circuit.
  • the electrodes 3 can be pasted on each turn, and can also be pasted on each circle.
  • the sheet-shaped wire on each turn can be pasted with one electrode 3, or with multiple electrodes. 3.
  • the length of the magnetic cylinder mover 2 can be set as required. Generally, it is necessary to ensure that the magnetic cylinder mover moves normally within the coil ', and it is advisable not to exceed the length of the coil.
  • the thin-film wire coil 1 to which the electrode 3 is attached is arranged opposite to the magnetic cylinder mover 2 to form a motor wire tube for a linear stepping motor.
  • a digital control circuit is connected between the motor bobbin 01 and the power source 4 to form a CNC linear stepper motor.
  • the digital control circuit is composed of a digital signal generator 03, a switching circuit 02, a voltage control circuit 04, a multiplex control circuit 05, a maximum resistance control circuit 06, and a wake-up circuit 07. Among them, the digital signal generated by the digital signal generator 03 is driven
  • the switch circuit 02 is connected between the voltage control circuit 04 and the motor bobbin 01.
  • the voltage control circuit 04 uses a motor bobbin composed of a thin wire coil 2 with an electrode 3 and a magnetic cylinder mover 1 01 feedback information to adjust the voltage applied to the motor bobbin 01; the digital signal provided by the counter in the voltage control circuit 04 drives the multiplexer to form the multiplexer control circuit 05; using the multiplexer to form the maximum resistance control Circuit 06; the wake-up circuit 07 receives feedback information from the motor bobbin 01, and is connected to the power supply 4 through a comparator connected to the power control switch 28.
  • the specific circuit is shown in FIG. 3, wherein the digital signal generator 03 is composed of an oscillator 5, a counter 6, a decoder 7, a comparator 8, an oscillator frequency adjusting terminal 9, a counter selecting terminal 10, and a counter direction control «1 comparison
  • the output terminal 12, the target digital input terminal 13 and the digital display 14 are included; wherein the oscillator frequency adjusting terminal 9 controls the moving speed of the linear stepping motor, and the target digital input terminal 13 is used to input a digital signal representing the target bit, a counter
  • the number output by 6 is compared with the comparator 8 and output to the direction control terminal of the counter 6 to control the running direction of the linear stepper motor.
  • the digital display 14 displays the target position and the actual position of the linear stepper motor respectively.
  • the decoder 7 The output terminal is connected to a switching circuit, and each component of the digital signal generator is in communication with the power source 4.
  • the voltage control circuit 04 is composed of a voltage comparator 16, a counter 17, and a D / A converter 18.
  • the electric J1 comparator 16 compares the voltage drawn from an electrode 15 of the coil 1 with the output terminal of the D / A converter 18, and compares the result with 1 ⁇ 2. It is used to control the counting direction of the counter 17.
  • the low bit of the output of the counter 17 is sent to the D / A converter 18 to provide a driving voltage for the emitter of the switching circuit.
  • the voltage comparator 16 is composed of two voltage comparators, which are respectively used to monitor the up and down changes of the voltage of coil 1. Among them, a voltage comparator that monitors the lower limit of the voltage, and a resistor is connected to the input terminal to make the reference voltages of the two voltage comparators. There is a certain difference. An inverter is connected to the output terminal. When the voltage exceeds the upper or lower limit voltage, a corresponding signal is output to control the counting direction of the counter 17. In the voltage control circuit, the high bit of the counter 17 is sent to the decoder 19 After decoding, they are sent to the multiplex control circuit 05 and the maximum resistance control circuit 06.
  • the maximum resistance control circuit 06 is composed of an AND gate circuit, a maximum resistance selection terminal 24, and a maximum resistance output terminal 25. Using the power of a numerically controlled linear stepping motor, a certain pole in the maximum resistance selection terminal 24 is selected. In extreme cases, the output 25 may alarm or enable other functions.
  • 'Multi-channel control circuit 05 is composed of an AND circuit, a diode, a function selection terminal 22, and an output terminal 23.
  • the decoder 19 closes one port of the output terminal 23, the other lower ports are all opened at the same time. The above highs are all closed.
  • a voltage comparator 26 is set in the wake-up circuit.
  • An electrode 15 is drawn from the motor coil 1 and connected to the voltage comparator 26.
  • the reference voltage value of the voltage comparator 26 is set to zero, so that it becomes a zero-crossing detector and outputs The end is 27.
  • the linear stepping motor is powered off, the magnetic cylinder mover 2 of the motor coil is pushed by an external force, the wire tube is cut to cut the magnetic force lines, and an induced current is generated.
  • the output terminal 27 of the voltage comparator 26 is connected to the control switch 28 of the power supply 4 and the power switch of the linear stepping motor is closed.
  • a composition of a linear motor-ray tube having a special function of the stepping motor wherein: the stator coil is constituted by a thin wire, the sheet is separated into two coil winding wire, the coil 29 are formed two parts, 30.
  • a switch tube 33 is connected in the middle, and the switch tube 33 is a switch tertiary tube.
  • a magnetic cylinder 32 is set as a mover in the motor wire tube, and the electrode 35 on the thin wire coil is connected to a digital drive circuit.
  • the switch control terminal 34 is mounted on the guanguan tube 33 as a selection terminal of the coil.
  • the special processing equipment for the thin-film wire coil of the present invention is a coil rolling equipment. After a cylindrical wire is rolled by the rolling equipment, a thin-film wire is formed.
  • a fixed bracket is composed of a driving device, wherein the fixed bracket is composed of a chassis 36, a support rod 37, a pressure plate 38, a transmission wheel 39, a rotating shaft 40, a shaft sleeve 41, a tapered roller 42, an annular sheet line 43, a baffle fixing device 44, The feeding hole 45, the feeding adjusting device 46, the baffle 47, the connecting rod 48, and the fastening screw 49 are composed.
  • the supporting rod 37 is fixedly connected to the chassis 36, and the pressing plate 38 is provided with two upper pressing plates 38 and a lower pressing plate 38 ', wherein the lower pressing plate 38' is fixedly connected to the top of the supporting rod 37, and a shaft sleeve 41 is fixedly mounted on the shaft sleeve 41.
  • the upper block is fixedly connected to the connecting rod 48 of the coil size adjusting device by a fastening screw 49; a shaft 40 is inserted through the sleeve 41, and two oppositely-shaped tapered rollers 42 are installed at one end of the shaft 40 , 'The other end is installed with a transmission wheel 39, the transmission wheel 39 and the conical roll 42 are connected with the driving device, the conical roll 42 is provided with a feed hole 45, the feed adjustment device 46 and the baffle 47 fixing device 44; Baffles 47 are fixed on both sides of the two conical rolls 42.
  • the baffle 47 is used to prevent the rolled spiral annular sheet line 43 from returning between the conical rolls 42.
  • a baffle fixing device 44 is used. Adjust the position of the bezel 47.
  • the conducting wire 50 is located outside the device.
  • the conducting wire 50 enters between the two conical rolls 42 through a feeding hole 45 provided in the feeding adjustment device 46 and is rolled into a continuous spiral ring-shaped sheet line 43.
  • the feeding adjustment The device 46 adjusts the position where the wire enters the roller, and controls the diameter of the spiral ring-shaped sheet wire 43; the spiral ring-shaped sheet wire 43 rolled out by the rolling device is then bonded into a sheet wire coil 1 with an insulating material.
  • the feed adjusting device 46 is used to adjust the position where the wire 50 enters the roller, and the diameter of the spiral annular sheet wire 43 is controlled.
  • the continuous helical ring-shaped thin wires 43 rolled out by the coil processing machine are then bonded into a coil with an insulating material, such as the coil 1 in FIG. 1.
  • two numerically controlled linear stepper motors can be combined into one to form an automatic balance control system.
  • a comparator is added between the velocity signal output terminals 20 of the counter 17 in the two numerically controlled linear stepper motor circuits.
  • the comparison result is sent to the counting direction control terminals 11 of the two counters 17 to receive
  • the pressure-controlled NC linear stepper motor moves in the direction of the force, and the pressured side stretches. The side under tension is contracted.
  • the comparator sends a zero signal and the balance control ends.
  • Another application is a synchronous motor speed control system. It can be used to imitate the force relationship between muscles in a living body.
  • the data output terminal 20 of the counter number 17 in a NC linear stepper motor drive circuit The data input terminal 21 of the number of counters (17) connected in the drive circuit of the numerically controlled linear stepper motor changes synchronously with the data input terminal 20 of another numerically controlled linear stepper motor.
  • the size and number of the motor can be different.
  • Two CNC linear stepper motors, one master and one slave, the slaves follow the master. This function is realized by the connection between the drive circuits. It is used in the relationship between the arm muscles and the finger muscles when the robot is grasping objects; it is also used between the robot's regression and the foot muscles.
  • the circuit part described above is not unique. In practical applications, different combinations can be achieved with the single-chip microcomputer to achieve different purposes. For example, when the aspect of the force and motor linkage is not considered, the single-chip microcomputer is used to directly drive the switch circuit. The part of the voltage control circuit is replaced by the power supply, and the signal generating circuit, the multi-channel control circuit, and the maximum resistance limit monitoring circuit are cancelled, which makes the whole of the motor simpler and can increase its application range.
  • the linear stepping motor made of the thin-film wire coil processed by the technical solution of the present invention has a wide range of applications due to its excellent performance, and is suitable for manufacturing miniaturization, digital circuit control and special switches with selection switches. Functional linear stepper motor. The following further describes its application through specific embodiments.
  • NC linear stepper motor with special function used on motor display.
  • advantages of compact structure, easy miniaturization, digital circuit control, easy sticking of electrodes on the surface, and easy installation of control poles, thin-film wire coils are used to make motor displays.
  • the specific method is: using surface film generation technology (such as radio frequency sputtering technology), a row of thin film diodes is made on the surface of the motor coil of the present invention, and triodes are made or pasted between the upper and lower coils to form the switch control of the motor End, the column scanning signal line is connected to the thin film diode, the row scanning signal line is connected to the motor control terminal, the row and column signal lines are bonded to the coil of the motor to form a display board, and the linear stepping motor according to the present invention is used.
  • the motion changes the color of the pixels to achieve the purpose of displaying the image.
  • the coil is divided into two parts, the coil with a switching triode interposed therebetween is made into a NC linear stepper motor with special functions, and the switch control end provided outside the switching triode is the selection end of the coil.
  • the numerically controlled linear stepper motor of this device can also be used to control each gate of a large fountain, and the height of the water jet can better express the rhythm of music.
  • Robot technology is a sign of the industrial development process. It is used as a sign because advanced electronics, advanced manufacturing technology, and advanced devices can be exhibited and tested here. Is a CNC linear stepper motor a new electromechanical device? It has advanced features that other devices do not have, and it should also be tested here. The following are numerically controlled linear stepper motors that show superiority in several specific aspects of robotics.
  • the microcontroller can be used to replace the signal circuit part of the motor drive circuit.
  • the single-chip microcomputer can output the counting signal or shift signal.
  • the walking-related motor on the robot body can coordinate the movement.
  • An inverter can be added to the output terminal 25 of the maximum resistance limit monitoring circuit, which is connected to the interrupt control terminal of the single-chip microcomputer. It will stop automatically when the robot encounters resistance.
  • the following uses the legs and feet of the robot as a column to introduce the principle of maintaining the balance of the simulated robot when it is in motion or at rest.
  • the multi-channel control circuit When the external force reaches a certain intensity, the multi-channel control circuit is turned on to start the balance control system, so that the body tilts in the opposite direction.
  • the "muscle” sends an interrupt signal to the microcontroller through the maximum resistance limit monitoring circuit.
  • it can also report the direction of dumping to a more advanced control (can be a single-chip microcomputer or a PC).
  • a more advanced control can be a single-chip microcomputer or a PC.
  • the control system starts the corresponding exercise program based on the above information. For example: extend your arms in the direction of dumping, etc. to control the balance.
  • the control system determines the direction of the next step based on the position of the foot force.
  • the "muscle" voltage control system and multi-channel control circuit are activated first to resist external force.
  • the degree of stress on one side reaches a certain critical point, the robot's body tilts.
  • the "muscle” feeds back the direction information of the force to the control system through the multi-channel control circuit.
  • the control system starts the corresponding muscles according to the feedback force information, selects the appropriate target position, and adjusts the direction of the next step. In this way, the robot automatically controls the balance in the movement.
  • the process of doing some work by hand includes: arm movement, wrist rotation, and finger movement.
  • the movement of the arm can control the distance between the hand and the body; the rotation of the wrist controls the orientation of the palm; the movement of the fingers realizes various actions such as grasping, holding, pinching, etc.
  • the strength of the finger movement is synchronized with the strength of the arm, that is, the arm uses a certain force to lift the heavy object, and the finger must grasp the heavy object with the corresponding force. This is why we do not break the egg when we grab the egg. One of the reasons why iron blocks do not let go.
  • the simulation robot can imitate the above actions through the voltage synchronization control system.
  • the data output terminal (20) of the counter (17) in one "muscle” drive circuit is connected to the counter in the other "muscle” drive circuit
  • the data input terminal (21) of the number (17) makes the velocity data of the two "muscles” change synchronously.
  • the "muscle” drives the arm movement with the lowest energy consumption.
  • the force of the finger is greater than the force used by the arm, and t is the driving voltage for controlling the finger movement, which is adjusted in synchronization with the driving voltage for controlling the movement of the arm.
  • the force used to grasp the item should be appropriately greater than the force used by the arm to lift the object. This can solve the similar problem of robots crushing eggs and unable to catch shots.
  • the same principle can be used to open the fingers when the arm loses its load.
  • connection between the two “muscle” counters can be achieved using a multiplex switch, and when the "muscle” strength is synchronized, it can be achieved by turning it on.
  • Skeletal muscle is a complex system. It is an implementer of consciousness. It can control the human or animal body to perform various beautiful or complex movements. Now, the "muscles” of robots are available, but using current technology, It is still difficult to control many “muscles”, but it is not impossible. It is possible to achieve this by adopting the method of stepwise control of the pyramid structure.
  • one layer of coils Due to the high-density single-layer arrangement of thin-film wire coils, one layer of coils has the thickness of multiple layers of coils.
  • the excitation coil of a numerically controlled linear stepper motor it can generate sufficient magnetic field strength. It is suitable for attaching electrodes on the surface, Multiple electrodes are attached in a circle to facilitate connection to the circuit.
  • This kind of coil has a strong self-supporting force, which can save the supporting skeleton and save space. Since each turn of the thin sheet wire passes through the inner coil of the coil, it is easy to conduct the heat generated inside the coil. This structure can also minimize the voltage between adjacent coils, reduce the damage to the coil caused by short circuits, and lower the standard for insulating materials.
  • the numerically controlled linear stepper motor manufactured by using this coil uses digital circuits to transform energized electrodes to promote the movement of the mover in the wire tube. It has no gears, no shafts, low friction, digital circuit control, and targets. The position is clear, the reaction speed is fast, and the running speed can be arbitrarily changed. Using it as the "muscle" of the robot can make the robot move freely and the speed of movement can exceed humans. NC linear stepper motors are widely used, and they can replace some machinery used for movement between two points, such as hydraulic or hydraulic devices.
  • the simple structure of the coil can be used to manufacture micro-motors and micro-generators, the operating speed of which can be arbitrarily changed, and it has a wide range of uses. It is particularly suitable for use in special technical fields and can be industrialized for production.

Abstract

L'invention concerne une bobine, l'application et le matériel spécial nécessaire à la fabrication de cette dernière. La bobine de l'invention possède les caractéristiques suivantes : le fil conducteur est plat, et le fil conducteur plat est enroulé en une bobine plate dans la même direction. Les fils conducteurs plats se trouvent en contact étroit, côte-à-côte, les uns avec les autres. La bobine plate précitée et un moteur à cylindre magnétique constituent le tube moteur qui, avec un circuit de commande numérique, constitue le moteur pas à pas linéaire à commande numérique de l'invention. L'invention porte non seulement sur un système d'équilibre automatique et sur un dispositif d'entraînement synchrone composé d'au moins deux moteurs pas à pas linéaires à commande numérique, mais aussi sur un matériel à cylindre spécial utilisé pour fabriquer les bobines, des bobines en colonnes étant roulées en bobines plates par le cylindre. Les bobines sont agencées en une seule couche de haute densité, l'invention permettant de conférer aux bobines à simple couche l'épaisseur de bobines à plusieurs couches. A l'instar des bobines d'excitation d'un moteur pas à pas linéaire à commande numérique, l'invention permet de produire un intensité de champ magnétique suffisante. L'invention peut recevoir des électrodes adhésives à sa surface et il est possible de placer de nombreuses électrodes à la surface de chaque bobine. L'invention ne comporte pas de dents ni d'axes et elle est caractérisée par un faible frottement, une réponse rapide et une vitesse réglable. L'invention offre par conséquent de nombreuses possibilités d'emploi et est facile à diffuser.
PCT/CN2005/000055 2004-01-16 2005-01-14 Bobine, application et materiel special necessaire a la fabrication de cette derniere WO2005074107A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2005800016719A CN1906830B (zh) 2004-01-16 2005-01-14 一种线圈及其应用与制备线圈的专用设备

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CNA2004100007204A CN1558430A (zh) 2004-01-16 2004-01-16 薄片线线圈及其加工设备
CN200410069382.X 2004-07-22
CN 200410069382 CN1586830A (zh) 2004-07-22 2004-07-22 人造肌肉和仿真机器人

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1009598B (zh) * 1986-06-08 1990-09-12 索尼公司 扁平线圈及其制造方法
JP2001028808A (ja) * 1999-07-13 2001-01-30 Hitachi Ltd 電気車の制御装置
CN1392656A (zh) * 2002-01-21 2003-01-22 张金铭 永磁式简易步进电机
DE10152054A1 (de) * 2001-09-25 2003-04-24 Karl Fuhr Gmbh & Co Kg Verfahren und Vorrichtung für die Herstellung metallener Flachbandleiter
CN1458741A (zh) * 2003-05-11 2003-11-26 张金铭 智能步进电机的驱动电路

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1009598B (zh) * 1986-06-08 1990-09-12 索尼公司 扁平线圈及其制造方法
JP2001028808A (ja) * 1999-07-13 2001-01-30 Hitachi Ltd 電気車の制御装置
DE10152054A1 (de) * 2001-09-25 2003-04-24 Karl Fuhr Gmbh & Co Kg Verfahren und Vorrichtung für die Herstellung metallener Flachbandleiter
CN1392656A (zh) * 2002-01-21 2003-01-22 张金铭 永磁式简易步进电机
CN1458741A (zh) * 2003-05-11 2003-11-26 张金铭 智能步进电机的驱动电路

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