阅读说明：本技术 一种带多圈反馈的驱动一体步进电机 (Take integrative step motor of drive of many rings of feedback ) 是由 吴猛德 董海德 邱卫和 于 2019-10-29 设计创作，主要内容包括：本发明公开了一种带多圈反馈的驱动一体步进电机,包括电机主体和安装在电机主体内的旋转轴承,还包括电路控制板、齿轮组和磁角度传感器组,所述齿轮组安装在旋转轴承的尾部,齿轮组的外侧的中心处安装有磁铁,磁角度传感器组分别对应对各磁铁设置,电路控制板分别与磁角度传感器组和电机信号连接。采用上述技术方案,噪音低,运行平稳；同等负载情况下,功耗更低,效率更高；负载动态变化情况下,响应快,运行比外置驱动器更加平稳；测量传感器直接安置于轴上,减小了整体体积,又避免了外置安装的引起配合误差；带多圈反馈,可以精确地确定其位置,并提供给上层设备；失电情况下,电机转动多圈后,上电时仍可准备感知位置,分辨率达到0.022°。(The invention discloses a driving integrated stepping motor with multi-loop feedback, which comprises a motor main body, a rotary bearing arranged in the motor main body, a circuit control board, a gear set and a magnetic angle sensor group, wherein the gear set is arranged at the tail part of the rotary bearing, magnets are arranged at the center of the outer side of the gear set, the magnetic angle sensor group is respectively arranged corresponding to each magnet, and the circuit control board is respectively in signal connection with the magnetic angle sensor group and the motor. By adopting the technical scheme, the noise is low, and the operation is stable; under the condition of the same load, the power consumption is lower, and the efficiency is higher; under the condition of dynamic load change, the response is fast, and the operation is more stable than that of an external driver; the measuring sensor is directly arranged on the shaft, so that the overall volume is reduced, and the matching error caused by external installation is avoided; with multi-turn feedback, the position of the device can be accurately determined and provided for upper-layer equipment; under the condition of power failure, after the motor rotates for a plurality of circles, the sensing position can still be prepared during power-on, and the resolution reaches 0.022 degrees.)

1. The utility model provides an integrative step motor of drive of many rings of feedbacks, includes the motor main part and installs the swivel bearing in the motor main part, its characterized in that still includes circuit control board, gear train and magnetism angle sensor group, the afterbody at swivel bearing is installed to the gear train, the center department in the outside of gear train installs magnet, magnetism angle sensor group corresponds respectively to each magnet setting, circuit control board respectively with magnetism angle sensor group and motor signal connection.

2. The integrated stepping motor with multi-turn feedback driving as claimed in claim 1, wherein the gear set comprises two gears, the two gears are respectively a driving gear and a driven gear, the driving gear is mounted at the tail of the rotary bearing, the driven gear is meshed with the driving gear, the centers of the outer surfaces of the driving gear and the driven gear are respectively provided with a magnet, the magnetic angle end sensor comprises a first magnetic angle sensor and a second magnetic angle end sensor, and the circuit control board is respectively in signal connection with the first magnetic angle sensor, the second magnetic angle sensor and the motor.

3. The driving integrated stepping motor with multi-turn feedback according to claim 2, wherein the circuit control board comprises an MCU controller, a driving circuit and a current sampling circuit, the MCU controller is provided with a magnetic sensor interface, a communication unit, a signal output end and a signal output end, the magnetic sensor interface is respectively in signal connection with the first magnetic angle sensor and the second magnetic angle sensor, the signal output end outputs a signal to the driving circuit, the signal input end receives a detection signal of the current sampling circuit, and the communication unit is in signal connection with the control interface.

4. The integrated stepping motor with multi-turn feedback for driving of claim 3, wherein the output signal of said signal output terminal is PWM, and the signal received by said signal input terminal is ADC.

5. The drive integrated stepper motor with multi-turn feedback as claimed in claim 3, wherein the drive circuit is connected to the motor through a drive harness.

Technical Field

The invention relates to the technical field of motors, in particular to a driving integrated stepping motor with multi-loop feedback.

Background

The purpose of the stepping motor is very extensive, compared with the common direct current motor, the stepping motor has larger torque and more accurate control, and under many conditions, especially in the field of automation, many devices can not be operated without the motor, but the stepping motor used in the traditional device often has the following obvious defects:

the conventional stepping motor has a large stepping angle which is generally 0.9 degrees, and although the current driver realizes subdivision control by controlling the current proportion to enable the current driver to achieve higher precision, subdivision control is only used for controlling the driving current of two poles of the motor, although high-precision control is realized theoretically, the parameters of the two poles of the motor cannot be completely the same due to manufacturing reasons, and a split type structure is adopted, so that the actual control precision is far lower than the theoretical precision due to the influence of measurement precision and control environment.

To achieve sufficient torque, the current is typically increased. However, the load is changed many times during the operation of the motor, for example, the current is needed to be large when the motor is started, and only a small current is needed when the load is small. The existing drivers generally work according to the maximum required current, so that energy waste is caused, the waste energy is converted into heat, and the system generates heat seriously.

The conventional control of the stepping motor is open-loop control, and the control precision is influenced by the inevitable step loss due to the load change and other conditions in the operation. After long-time work, the precision is greatly reduced due to error accumulation. Now this situation is generally avoided and feedback is generally added to the control object to correct it. The degree of system load increases, making the system structure loaded and inconvenient to maintain.

In a stepping motor control system, positions of a plurality of control devices can change after power failure, and in order to meet the requirement of precision control, a set of measuring device is added to the system to sense the state through the conventional universal solution; the installation is loaded down with trivial details, and is bulky, with high costs, needs maintenance, fragile.

Disclosure of Invention

According to the defects of the prior art, the invention provides the driving integrated stepping motor with multi-loop feedback, and the absolute angle, angular velocity and current triple closed-loop control method is used, so that the response speed and control precision are greatly improved, and the energy consumption is reduced.

In order to solve the technical problems, the technical scheme of the invention is as follows:

the utility model provides a take integrative step motor of drive of many rings of feedbacks, includes the motor main part and installs the swivel bearing in the motor main part, still includes circuit control board, gear train and magnetism angle sensor group, the afterbody at swivel bearing is installed to the gear train, the center department in the outside of gear train installs magnet, magnetism angle sensor group corresponds respectively to each magnet setting, circuit control board respectively with magnetism angle sensor group and motor signal connection.

Preferably, the gear train includes two gears, two the gear is driving gear, driven gear respectively, the afterbody at rotary bearing is installed to the driving gear, driven gear meshes with the driving gear mutually, driving gear and driven gear's surface center department all is provided with magnet, magnetism angle end sensor includes first magnetism angle sensor and second magnetism angle end sensor, circuit control board is first magnetism angle sensor, second magnetism angle sensor, motor signal connection respectively.

Preferably, the circuit control board comprises an MCU (microprogrammed control Unit) controller, a driving circuit and a current sampling circuit, a magnetic sensor interface, a communication unit, a signal output end and a signal output end are arranged on the MCU controller, the magnetic sensor interface is in signal connection with the first magnetic angle sensor and the second magnetic angle sensor respectively, the signal output end outputs signals to the driving circuit, the signal input end receives detection signals of the current sampling circuit, and the communication unit is in signal connection with the control interface.

Preferably, the signal output end outputs a signal PWM, and the signal received by the signal input end is an ADC.

Preferably, the driving circuit is connected to the motor through a driving harness.

The invention has the following characteristics and beneficial effects:

by adopting the technical scheme, the noise is low, and the operation is stable; under the condition of the same load, the power consumption is lower, and the efficiency is higher; under the condition of dynamic load change, the response is fast, and the operation is more stable than that of an external driver; the measuring sensor is directly arranged on the shaft, so that the overall volume is reduced, and the matching error caused by external installation is avoided; with multi-turn feedback, the position of the device can be accurately determined and provided for upper-layer equipment; under the condition of power failure, after the motor rotates for a plurality of circles, the sensing position can still be prepared during power-on, and the resolution reaches 0.022 degrees; the integrated structure has smaller volume and is more convenient to maintain and install without maintenance; non-contact sensing and long service life.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic diagram of the control panel of fig. 1.

In the figure, 1-a rotary bearing, 2-a motor body, 3-a driving wire harness, 4-a first magnetic angle sensor, 5-a circuit control board, 6-a second magnetic angle sensor, 7-a control interface, 8-a driving gear, 9-a magnet, 10-a driven gear, 501-a driving circuit, 502-a current sampling circuit, 503-a signal output end, 504-a signal input end, 505-an MCU controller, 506-a communication unit and 507-a magnetic sensor interface.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.