Permanent magnet ball-type stepper motor for robot simulation joint

Abstract

The application discloses a permanent magnet ball type stepping motor for simulating a joint of a robot, wherein permanent magnet grooves are distributed on a hollow rotor ball according to an approximate equilateral spherical surface division principle, and permanent magnets are arranged in the grooves; stator grooves are distributed in a stator outside the rotor ball according to a certain space rule, and ferromagnetic coils are arranged in the grooves; an output shaft is fixedly connected with the hollow rotor ball, the shaft end is provided with a flange plate, and a position sensor is fixed on the flange plate; the stator and the rotor are connected through a bearing and a bearing support, and three position sensors are fixed on the upper bearing. The position of the rotor is detected through the position sensors fixed on the flange plate and the upper bearing, and the motion position of the rotor is accurately positioned. The output current of the stator coil and the information of the position sensor are compared and fed back to a control end, so that accurate control is realized. Meanwhile, due to the simplified structure and the increased rotor running angle, the motor is more suitable for simulating the motion of a robot joint.

Description

TECHNICAL FIELD

[0001] The application relates to a stepping motor, in particular to a permanent-magnetic spherical stepping motor for a robot simulation joint. BACKGROUND

[0002] A traditional robot joint driving mode is usually composed of a complex mechanical transmission mechanism and multiple single-degree-of-freedom driving elements. Although such a system meets the multi-dimensional motion control requirements of a complex system, the system precision, efficiency and the like are limited due to complex control schemes and errors between mechanical structures.

[0003] With the continuous development of new permanent-magnetic materials, the progress of electrical control and sensing technology, a simple-structure multi-degree-of-freedom high-precision permanent-magnetic spherical motor gradually comes into being. The basic principle is to use three mutually orthogonal pulse magnetic fields to jointly form a resultant magnetic field rotating around a fixed point in space, thereby driving the rotor to move in multiple degrees of freedom in space.

[0004] The application is a permanent-magnetic spherical stepping motor for a robot simulation joint, which is proposed to make up for the shortcomings of the traditional joint driving mode. The motor realizes multi-degree-of-freedom motion, makes the robot joint more humanized, compares the difference between input signals and position sensor output signals, feeds back to the motion control end, and makes the rotor motion more accurate. The structure is relatively simplified, and the motor is convenient to maintain and install. In addition to the robot joint motor, the motor is also applicable to the fields of a gimbal and a transportation mechanism. SUMMARY

[0005] To solve the above problems, the application provides a permanent-magnetic spherical stepping motor for a robot simulation joint, which adopts the following technical scheme:

[0006] The permanent-magnetic spherical stepping motor for a robot simulation joint comprises a hollow rotor sphere made of a non-magnetic material, a plurality of permanent-magnetic body slots are distributed on the hollow rotor sphere according to an approximate equilateral spherical surface division principle, a plurality of radial rare earth permanent magnets are installed in the permanent-magnetic body slots, and the N poles of the rare earth permanent magnets all point outward.

[0007] A cylindrical stator located outside the hollow rotor sphere is made of a non-magnetic material, the cylindrical stator is provided with a half-spherical slot, the spherical center of the slot is located at the center of the cylindrical surface, the hollow rotor sphere is placed in the half-spherical slot, and the coverage range is less than half of the rotor spherical surface. A plurality of stator slots are distributed in the half-spherical slot according to a preset space rule, and ferromagnetic coils are distributed in the stator slots.

[0008] Further comprising an output shaft, the upper end of the output shaft penetrates the hollow rotor sphere and is fixed with a flange plate, the lower end of the output shaft is fixed with a position sensor for positioning.

[0009] Further, the cylindrical stator is fixed with a first bearing, the first bearing and a second bearing are fixed through a bearing support, the hollow rotor sphere is supported between the second bearing and the first bearing, and the spherical center of the hollow rotor sphere is located on the same axis as the spherical center of the cylindrical stator.

[0010] Further, the hollow rotor sphere is combined by two hollow hemispherical shells.

[0011] Further, the upper surface of the rare earth permanent magnet is provided with a rectangular groove, and the lower surface is fixed with a base, and the base is connected with the permanent magnet groove through threads.

[0012] Further, the cylindrical stator is provided with a stator groove cover in the stator groove, and the ferromagnetic coil is fixed in the stator groove through the stator groove cover.

[0013] The beneficial effects of the present application are: the position of the rotor is detected by the position sensor fixed on the flange plate and the upper bearing, and the movement position of the rotor is accurately positioned. The output current of the stator coil and the information of the position sensor are compared and fed back to the control end to realize accurate control. At the same time, due to the simplification of the structure and the increase of the rotor running angle, it is more suitable for the simulation movement of the robot joint. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual proportion.

[0015] Figure 1 A structure schematic diagram of a permanent magnet ball type stepping motor for robot simulation joint according to an embodiment of the present application is shown.

[0016] Figure 2 A structure schematic diagram of a permanent magnet ball type stepping motor for robot simulation joint according to an embodiment of the present application is shown.

[0017] Figure 3 A hollow rotor sphere structure schematic diagram of a permanent magnet ball type stepping motor for robot simulation joint according to an embodiment of the present application is shown.

[0018] Figure 4A stator structure schematic diagram of a permanent magnet ball type stepping motor for a robot simulation joint according to an embodiment of the present application is shown.

[0019] Figure 5 A permanent magnet slot and permanent magnet installation mode structure schematic diagram of a permanent magnet ball type stepping motor for a robot simulation joint according to an embodiment of the present application is shown.

[0020] Figure 6 A bearing structure schematic diagram of a permanent magnet ball type stepping motor for a robot simulation joint according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] Other advantages and effects of the present application can be easily understood by those skilled in the art from the description of the embodiments of the present application. The present application can also be implemented or applied by means of other different embodiments, and various modifications or changes can be made to the details of the description based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0022] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0024] The specific embodiments of the present application are described in detail below in conjunction with the drawings and examples.

[0025] As Figures 1 to 5 shown, the embodiment of the present application provides a permanent magnet ball type stepping motor for a robot simulation joint, comprising:

[0026] A hollow rotor sphere 2 and rare earth permanent magnets 3 fixed on the hollow rotor sphere 2;

[0027] A cylindrical stator 5 and ferromagnetic coils 6 fixed on the stator 5.

[0028] The spherical center of the hollow rotor sphere 2 is on the same axis as the spherical center of the spherical recess in the stator 5. A first bearing 9 is arranged between the hollow rotor sphere 2 and the cylindrical stator 5 for supporting the hollow rotor sphere 2, and the first bearing 9 is fixedly connected with the second bearing 4 through a bearing support 8; the hollow rotor sphere 2 can make large-angle arbitrary movement around the spherical center.

[0029] As shown in Figure 5 The surface of the hollow rotor sphere 2 is provided with permanent magnet grooves 11 according to the principle of approximate equilateral spherical surface division, and there are 80 permanent magnet grooves 11, and the permanent magnet grooves 11 are provided with threads in the grooves, and the base 13 is threadedly connected with the permanent magnet grooves 11, and the rare earth permanent magnets 3 are fixedly connected with the base 13.

[0030] The surface of the spherical recess in the cylindrical stator 5 is provided with stator grooves 12 according to the principle of approximate equilateral spherical surface division, and there are 16 stator grooves 12. The ferromagnetic coils 6 are installed in the stator grooves 12, and the stator groove covers 14 are installed on the top for fixing the ferromagnetic coils 6.

[0031] The significant feature of the cylindrical stator 5 is that the coverage range of the rotor sphere 2 is less than half of the rotor hollow rotor sphere 2, so that the output shaft 7 is less limited by the envelope of the cylindrical stator 5, and the movement range of the hollow rotor sphere 2 is greatly expanded.

[0032] The rare earth permanent magnets 3 in the hollow rotor sphere 2 are symmetrically distributed in different ferromagnetic coils 6, so that the ferromagnetic coils 6 generate torque on the nearby permanent magnets 3 after being energized, thereby changing the movement direction of the rotor 2. The energization of the ferromagnetic coils 6 is controlled through the connection of the circuit board, so that the rotor 2 makes arbitrary spatial movement.

[0033] In order to realize precise control, the position of the rotor 2 is detected by the position sensor fixed on the flange plate 1 and the upper bearing 4, and the position information is fed back to the current control point of the ferromagnetic coil 6, so as to realize precise control of the movement posture of the rotor 2.

[0034] The above embodiments are only used to illustrate the present application, and are not limited to the present application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, therefore all equivalent technical solutions also belong to the scope of the present application, and the patent protection scope of the present application should be defined by the claims.

Claims

1. A permanent magnet ball-type stepper motor for a robot simulation joint, characterized by, The hollow rotor sphere (2) is made of non-magnetic material, and a plurality of permanent magnet grooves (11) are distributed on the hollow rotor sphere (2) according to the principle of approximate equilateral spherical surface division, a plurality of radially distributed rare earth permanent magnets (3) are installed in the permanent magnet grooves (11), and the N-pole of each rare earth permanent magnet (3) points outward; The cylindrical stator (5) located outside the hollow rotor sphere (2) is made of non-magnetic material, the cylindrical stator (5) is provided with a half-spherical groove, the spherical center of the groove is located at the center of the cylindrical surface, and the hollow rotor sphere (2) is placed in the groove and covers less than half of the rotor spherical surface; a plurality of stator grooves (12) are distributed in the half-spherical groove according to a predetermined space rule, and a ferromagnetic coil (6) is distributed in the stator groove (12); It also includes an output shaft (7); the upper end of the output shaft (7) penetrates the hollow rotor sphere (2) and is fixed with a flange plate (1), the lower end of the output shaft (7) is fixedly connected with the inner surface of the hollow rotor sphere (2), and a position sensor for positioning is fixed on the flange plate (1); The cylindrical stator (5) is fixedly connected with the first bearing (9), the first bearing (9) and the second bearing (4) are fixedly connected through the bearing support (8); the hollow rotor sphere (2) is supported between the second bearing (4) and the first bearing (9), and the spherical center of the hollow rotor sphere (2) is located on the same axis as the spherical center of the cylindrical stator (5); The hollow rotor sphere (2) is combined by two hollow half-spherical shells; The upper surface of the rare earth permanent magnet (3) is provided with a rectangular groove, and the lower surface is fixedly connected with a base (13), and the base (13) is connected with the permanent magnet groove (11) through threads; The stator groove cover (14) is arranged in the stator groove (12) of the cylindrical stator (5), and the ferromagnetic coil (6) is fixed in the stator groove (12) through the stator groove cover (14).

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