Combined type two-degree-freedom mixed type stepping motor with orthogonal cylindrical structure for robot and application thereof

Abstract

The invention discloses a combined type two-degree-freedom mixed type stepping motor with an orthogonal cylindrical structure for a robot and an application thereof. The combined type two-degree-freedom mixed type stepping motor comprises a first-degree-freedom motor, a second-degree-freedom motor and an output shaft, wherein the first-degree-freedom motor is of a cylindrical structure, the first-degree-freedom motor rotates about a rotating axis which is the diameter direction of the bottom of the cylindrical structure, the second-degree-freedom motor is of a cylindrical structure and is arranged on the outer edge of the first-degree-freedom motor, the axis center of the second-degree-freedom motor is vertically orthogonal to the axis center of the first-degree-freedom motor, the second-degree-freedom motor rotates about a rotating axis which is the shaft center of the first-degree-freedom motor, and the second-degree-freedom motor retains independent movement relative to the first-degree-freedom motor during the rotating process of the first-degree-freedom motor, so that the output shaft arranged on the outer side of the second-degree-freedom motor realizes two-degree-freedom movement. The research and development period of a product is shortened, and the performance of the product is improved. Practical utilization, industrialization and commercialization of multi (two)-degree-freedom motors are further facilitated.

Description

technical field [0001] The invention relates to a combined type orthogonal cylindrical structure two-degree-of-freedom hybrid stepping motor and its application. Background technique [0002] Traditional asynchronous motors and synchronous motors have only one degree of freedom of rotor rotation, and the rotation motion can be transformed into linear motion through the cooperation of gears or worms. In many occasions, linear or rotational motion is sufficient to meet the needs of the controlled object; but in some more complex motion occasions (such as robot arm control, radar positioning control, etc.), one degree of freedom cannot meet the needs, and must have The purpose can only be achieved by the cooperative use of multiple electric motors. However, if the control is implemented by multiple motors, many problems will arise, such as complex mechanical structure, increased volume and weight, and difficulty in ensuring accuracy and dynamic characteristics. It is precisel...

AI Technical Summary

Problems solved by technology

Among them, the manufacturing and processing technology of the multi-degree-of-freedom motor with the traditional spherical structure is relatively difficult, and the motor control system is too complicated. It is necessary to install a position detection device to form a closed-loop control, so as to achieve accurate positioning of the output shaft, resulting in a larger overall volume and weight of the motor. ; The manufacturing and processing technology of the two-degree-of-freedom motor based on the orthogonal structure is relatively mature, and the motor can be controlled in an open-loop manner, thereby eliminating the need for a position sensor, simplifying the control system, and reducing the overall volume and weight of the motor, but there are still A series of difficult problems, such as:

[0007] 1. figure 1 Schematic diagram of an orthogonal cylindrical structure two-degree-of-freedom motor developed for Harbin Institute of Technology. The motor is composed of a first-degree-of-freedom motor 1-1 and a second-degree-of-freedom motor 2-1. Among them, 1-1 works on a hybrid stepping motor state, the step angle is small, the open-loop positioning accuracy is high, 2-1 works in the permanent magnet stepping motor state, the step angle is large, and the open-loop positioning accuracy is low, so the overall positioning accuracy of the two-degree-of-freedom motor is poor

[0008] 2. figure 2 Schematic diagram of an orthogonal structure two-degree-of-freedom hybrid stepping motor developed for Zhejiang University, image 3 Schematic diagram of the two-degree-of-freedom hybrid stepping motor developed for Shandong University, both of which are composed of the first degree of freedom motor 1-2, 1-3 and the second degree of freedom motor 2-2, 2-3, and 1-2, 1-3, 2-2, and 2-3 all work in the state of hybrid stepping motors, with small step angles and high open-loop positioning accuracy. Since 2-2, 2-3 all use special non-cylindrical Structural motor, during the rotation process, mechanical unbalanced force will be generated under the influence of asymmetrical electromagnetic force and gravity, causing motor disturbance, which may cause the motor to fail to operate normally

[0009] 3. by figure 1 , figure 2 It can be seen that the two-degree-of-freedom motors of these two structures have some spaces at both ends of the first-degree-of-freedom motor (1-1, 1-2) and inside the second-degree-of-freedom motor (2-1, 2-2). Utilization, which reduces the overall mechanical integration of the two-degree-of-freedom motor to a certain extent

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