阅读说明：本技术 一种角位移自反馈步进电机机组 (Angular displacement self-feedback stepping motor unit ) 是由 袁树峥 李学明 赵本勇 王熙 付居岳 廖远洋 于 2019-09-05 设计创作，主要内容包括：本发明属于步进电机设计领域,特别涉及一种角位移自反馈步进电机机组。工业领域可以选用光电编码器等实现高精度位置反馈,但难以适应航空发动机高温、振动、冲击等恶劣工况使用要求。本发明在机组壳体内包括步进电机和减速器,还包括主角位移传感器、角度比较器和次角位移传感器；在所述减速器的输入端和输出端分别级联有次角位移传感器和主角位移传感器,在次角位移传感器和主角位移传感器之间连接有角度比较器,通过角度比较器判断次角位移传感器和主角位移传感器的角度信号关系,作为状态判断依据。结构紧凑,实现了步进电机输出转矩放大功能,又实现了角位移传感器反馈机组输出轴角位移的功能,同时实现检测反馈角度准确性的功能。(The invention belongs to the field of design of stepping motors, and particularly relates to an angular displacement self-feedback stepping motor unit. The industrial field can select a photoelectric encoder and the like to realize high-precision position feedback, but is difficult to adapt to severe working conditions such as high temperature, vibration, impact and the like of an aeroengine. The invention comprises a stepping motor and a speed reducer in a unit shell, and also comprises a main angular displacement sensor, an angle comparator and a secondary angular displacement sensor; the input end and the output end of the speed reducer are respectively connected with a secondary angular displacement sensor and a main angular displacement sensor in a cascading mode, an angle comparator is connected between the secondary angular displacement sensor and the main angular displacement sensor, and the angle signal relation between the secondary angular displacement sensor and the main angular displacement sensor is judged through the angle comparator and serves as a state judgment basis. The device has compact structure, realizes the function of amplifying the output torque of the stepping motor, the function of feeding back the angular displacement of the output shaft of the unit by the angular displacement sensor, and the function of detecting the accuracy of the feedback angle.)

1. The utility model provides an angle displacement self feedback step motor unit, includes step motor (2) and reduction gear in unit's casing (1), the input and the step motor (2) of reduction gear are connected, and the output is unit output shaft (10), its characterized in that: the unit shell (1) also comprises a main angular displacement sensor (13), an angle comparator (14) and a secondary angular displacement sensor (15); an input end and an output end of the speed reducer are respectively connected with a secondary angular displacement sensor (15) and a main angular displacement sensor (13) in a cascading mode, an angle comparator (14) is connected between the secondary angular displacement sensor (15) and the main angular displacement sensor (13), and the angle signal relation between the secondary angular displacement sensor (15) and the main angular displacement sensor (13) is judged through the angle comparator (14) and serves as a state judgment basis.

2. The angular displacement self-feedback stepper motor assembly of claim 1, wherein: the retarder has a retarder housing (3).

3. The angular displacement self-feedback stepper motor assembly of claim 2, wherein: and the main angular displacement sensor (13) and the secondary angular displacement sensor (15) are fixed on the outer side of the reducer shell (3).

4. The angular displacement self-feedback stepper motor assembly of claim 1, wherein: the stepping motor (2) is a reaction type four-phase 8/6-level stepping motor.

5. The angular displacement self-feedback stepper motor assembly of claim 1, wherein: the speed reducer is a two-stage ordinary gear train speed reducer, a first gear (4) and a second gear (5) are mounted on a first gear shaft, a third gear (6) and a fourth gear (8) are mounted on a second gear shaft (7), and a fifth gear (9) and a sixth gear (11) are mounted on a unit output shaft (10); the first gear (4) is meshed with a beta gear (16), the second gear (5) is meshed with a third gear (6), the fourth gear (8) is meshed with a fifth gear (9), and the sixth gear (11) is meshed with an alpha gear (12).

6. The angular displacement self-feedback stepper motor assembly of claim 5, wherein: the first gear shaft is connected with an output shaft of the stepping motor (2), the beta gear (16) is connected with the secondary angular displacement sensor (15), and the alpha gear (12) is connected with the main angular displacement sensor (13).

7. The angular displacement self-feedback stepper motor assembly of claim 5, wherein: the fifth toothThe transmission ratio of the wheel (9) and the sixth gear (11)The transmission ratio of the fourth gear (8) and the fifth gear (9)The transmission ratio of the sixth gear (11) to the alpha gear (12)The transmission ratio of the first gear (4) to the beta gear (16)

8. The angular displacement self-feedback stepper motor assembly of claim 5, wherein: the motor shaft is extended to replace the first gear shaft and has a spline at its end in place of the face gear (5).

9. The angular displacement self-feedback stepper motor assembly of claim 1, wherein: the gear is connected with the gear shaft through a spline.

10. The angular displacement self-feedback stepper motor assembly of claim 1, wherein: the main angular displacement sensor (13) and the secondary angular displacement sensor (15) are both non-contact rotary transformers and are electrically connected with the angle comparator (14).

Technical Field

The invention belongs to the field of design of stepping motors, and particularly relates to an angular displacement self-feedback stepping motor unit.

Background

In the aircraft engine fuel control position closed-loop system, compared with the electro-hydraulic servo valve control, the stepping motor control framework has the advantages of strong anti-pollution capability and open-loop control, so that the stepping motor control framework is widely applied to a control system. In order to realize the closed-loop control of the stepping motor, the output angle of the stepping motor needs to be fed back, and a photoelectric encoder and the like can be selected to realize high-precision position feedback in the industrial field, but the use requirements of severe working conditions such as high temperature, vibration, impact and the like of an aeroengine are difficult to adapt; a potentiometer is selected, so that the high-precision dynamic feedback requirement of a control system cannot be met due to low measurement precision and slow dynamic response; therefore, a rotary transformer is usually selected, a gear with the same modulus and tooth number is fixed on the extension end of the shaft of the stepping motor by the rotary transformer, and the gear is meshed with a rack for transmission, so that the output rotation angle of the proportional feedback stepping motor is realized.

Disclosure of Invention

The technical problems solved by the invention are as follows: the utility model provides an angle displacement self feedback step motor unit, with step motor, two angle displacement sensors, angle comparator and reduction gear integration one unit, realize step motor output torque and enlarge and the function of unit output angle self feedback, carry out the accuracy in order to detect the feedback angle through angle comparator to feedback angle comparison simultaneously.

The invention relates to an angular displacement self-feedback stepping motor unit, which comprises a stepping motor and a speed reducer in a unit shell, wherein the input end of the speed reducer is connected with the stepping motor, the output end of the speed reducer is a unit output shaft, and the unit shell also comprises a main angular displacement sensor, an angle comparator and a secondary angular displacement sensor; the input end and the output end of the speed reducer are respectively connected with a secondary angular displacement sensor and a main angular displacement sensor in a cascading mode, an angle comparator is connected between the secondary angular displacement sensor and the main angular displacement sensor, and the angle signal relation between the secondary angular displacement sensor and the main angular displacement sensor is judged through the angle comparator and serves as a state judgment basis.

Preferably, the gear unit has a gear unit housing.

Preferably, the primary angular displacement sensor and the secondary angular displacement sensor are fixed on the outer side of the reducer casing.

Preferably, the stepper motor is a reactive four-phase 8/6-stage stepper motor.

Preferably, the speed reducer is a two-stage ordinary gear train speed reducer, a first gear and a second gear are mounted on a first gear shaft, a third gear and a fourth gear are mounted on a second gear shaft, and a fifth gear and a sixth gear are mounted on a unit output shaft; the first gear is meshed with the beta gear, the second gear is meshed with the third gear, the fourth gear is meshed with the fifth gear, and the sixth gear is meshed with the alpha gear.

Preferably, the first gear shaft is connected with an output shaft of the stepping motor, the beta gear is connected with the secondary angular displacement sensor, and the alpha gear is connected with the primary angular displacement sensor.

Preferably, the transmission ratio of the fifth gear and the sixth gearGear ratio of fourth gear and fifth gearSixth gear to alpha gear ratioFirst gear to beta gear ratio

Preferably, the motor shaft is extended to replace the first gear shaft and has splines at its end in place of the face gear.

Preferably, the gear and the gear shaft are connected through splines. The motor shaft extension end is designed to replace a face gear by a spline, and when the stepping motor is driven by single or double eight beats, the minimum stepping precision of the unit output shaft after the subdivision of the speed reducer reaches 0.25 degrees, so that the control precision is higher, the number of teeth of the face gear can be reduced, the radius of a reference circle can be reduced, and the integral structure of the speed reducer is more compact.

Preferably, the primary angular displacement sensor and the secondary angular displacement sensor are both contactless rotary transformers and are electrically connected with the angle comparator.

The technical scheme can meet the equal-proportion accurate feedback within the range of 0-120 degrees of the rotation angle of the output shaft of the unit, and simultaneously meet the requirements of severe working conditions such as high temperature, vibration and impact of an aircraft engine.

Has the advantages that: the invention integrates the stepping motor, the two angular displacement sensors, the angle comparator and the speed reducer into a unit, has compact structure, realizes the function of amplifying the output torque of the stepping motor and the function of feeding back the angular displacement of the output shaft of the unit by the angular displacement sensors, and simultaneously realizes the function of detecting the accuracy of the feedback angle by comparing the feedback angle by the angle comparator.

Drawings

Figure 1 is a schematic view of an angular displacement self-feedback stepper motor assembly of the present invention,

fig. 2 is a schematic diagram of an angular displacement self-feedback stepping motor assembly according to an embodiment of the present invention.

In the figure: 1-unit shell, 2-stepping motor, 3-reducer shell, 4-first gear, 5-second gear, 6-third gear, 7-gear shaft, 8-fourth gear, 9-fifth gear, 10-unit output shaft, 11-sixth gear, 12-alpha gear, 13-principal angular displacement sensor, 14-angle comparator, 15-secondary angular displacement sensor and 16-beta gear

Detailed Description

As shown in fig. 1, the angular displacement self-feedback stepping motor unit of the present invention includes a stepping motor 2, a reducer housing 3, a main angular displacement sensor 13, an angle comparator 14, and a secondary angular displacement sensor 15 in a unit housing 1; a reducer is provided in the reducer housing 3, the stepping motor 2 is connected to an input of the reducer, and the reducer has a plurality of outputs including an output connected to the primary angular displacement sensor 13, an output connected to the secondary angular displacement sensor 15, and the unit output shaft 10. The main angular displacement sensor 13 and the secondary angular displacement sensor 15 are fixed on the reducer housing 3 and are integrally fixed in the unit housing 1.

As shown in fig. 2, the speed reducer is a two-stage ordinary gear speed reducer, the stepping motor 2 is a reaction type four-phase 8/6-stage stepping motor, output shafts of the stepping motor are respectively connected with a first gear shaft, and the first gear shaft is respectively connected with a first gear 4 and a second gear 5 through splines. The first gear 4 is meshed with a beta gear 16, the second gear 5 is meshed with a third gear 6, and the meshing transmission ratio is realizedThe third gear 6 is fixed on a second gear shaft 7, the second gear shaft 7 is also fixedly connected with a fourth gear 8, the fourth gear 8 is meshed with a fifth gear 9 on a unit output shaft 10, and the meshing transmission ratio isThe dotted lines in fig. 1 indicate the gear mesh relationship. A sixth gear 11 on the unit output shaft 10 meshes with an alpha gear 12. The gear shaft of the beta gear 16 is connected to the secondary angular displacement sensor 15, and the gear shaft of the alpha gear 12 is connected to the primary angular displacement sensor 13. An angle comparator 14 is connected between the primary angular displacement sensor 13 and the secondary angular displacement sensor 15.

The driving distribution mode of the stepping motor is single-four-beat: a → B → C → D or double four beats: AB → BC → CD → DA, the stepping precision of the output shaft of the unit is 0.5 degree after the output shaft is subdivided by the reducer; when the driving distribution mode of the stepping motor is single-double eight-beat: and A → AB → B → BC → C → CD → D → DA, the stepping precision of the output shaft of the unit after the subdivision by the reducer reaches 0.25 degrees, and the output torque of the output shaft 10 of the unit is 30 times of the output torque of the stepping motor.

The principal angular displacementThe sensor 13 and the secondary angular displacement sensor 15 are both non-contact rotary transformers and are electrically connected with an angle comparator 14, and the meshing transmission ratio of the alpha gear 12 and the sixth gear 11Meshing gear ratio of the beta gear 16 and the first gear 4When the stepping motor drives the unit output shaft 10 to rotate, the rotation angle of the unit output shaft 10 is transmitted to the main angular displacement sensor 13 through the sixth gear 11 and the alpha gear 12, and the main angular displacement sensor is excited at an excitation voltage U_R1R2Output voltage U under action_S1S3、U_S2S4(ii) a Meanwhile, the stepping motor is transmitted to the secondary angular displacement sensor 15 through the first gear 4 and the beta gear 16, and the secondary angular displacement sensor 15 is excited at an excitation voltage U_R1′R2′Output voltage U under action_S1′S3′、U_S2′S4′(ii) a The angle comparator 14 collects the output voltages of the two angular displacement sensors and converts the output voltages into angles Meanwhile, the angle signals are compared, when the comparison angle relation of the output shaft 10 of the unit in the rotation process satisfies that beta is 3 alpha, the output angle of the unit is fed back in an equal proportion mode to be normal, and if the angle relation does not satisfy that beta is 3 alpha, the output angle is judged to be abnormal.