CN103795309B - Disc type micro servo motor system - Google Patents
Disc type micro servo motor system Download PDFInfo
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- CN103795309B CN103795309B CN201410052693.9A CN201410052693A CN103795309B CN 103795309 B CN103795309 B CN 103795309B CN 201410052693 A CN201410052693 A CN 201410052693A CN 103795309 B CN103795309 B CN 103795309B
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- motor
- driver
- disc type
- type micro
- box
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Abstract
The invention discloses a kind of disc type micro servo motor system, be connected with respectively external power supply and laser scanner agent structure, it comprises the driver, motor, angular displacement offset detector and the DB box that are electrically connected successively, and driver is also electrically connected DB box, on motor, connect laser scanner agent structure; Driver is for receiving the power supply signal of external power supply, and output pulse signal; The pulse signal that motor is exported for receiving driver, and drive the rotation of laser scanner agent structure; Angular displacement offset detector is for detection of the rotational displacement of motor, and angle displacement offset signal; The angular displacement offset signal that DB box is exported for acceptance angle displacement bias amount detecting device is also analyzed, and output feedback feedback signal is to driver. The present invention is by closed-loop control, and fast response time, surely the property put is high, can improve rotating speed and the angular displacement precision of controlling motor, accurately locates thereby realize whole disc type micro servo motor system rotating speed.
Description
Technical field
The present invention relates to belong to DC motor technology field, be specifically related to a kind of disc type micro servo motor system.
Background technology
Disc type servo direct current motor system is at home and abroad widely used in the high-tech products such as robot, precision instrumentation, removable radar. Its advantage is: the many merits such as simple in structure, reliability is strong, efficiency is high, volume is little, lightweight, loss is little, motor size is versatile and flexible. But the system research of domestic disc type servo direct current motor still belongs to the starting stage, and have that control accuracy is not high, poor stability, application scenario are limited, be not easy to the problems such as maintaining.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of disc type micro servo motor system, improves control accuracy by closed-loop control.
Another object of the present invention is to provide a kind of disc type micro servo motor system, the load that can bear any direction.
For solving the problems of the technologies described above, technical scheme of the present invention is achieved in that
A kind of disc type micro servo motor system, be connected with respectively external power supply and laser scanner agent structure, it comprises the driver, motor, angular displacement offset detector and the database D B box that are electrically connected successively, and described driver is also electrically connected respectively described external power supply and DB box, on described motor, connect described laser scanner agent structure; Described driver is for receiving the power supply signal of described external power supply, and output pulse signal; The pulse signal that described motor is exported for receiving described driver, and drive described laser scanner agent structure rotation; Described angular displacement offset detector is for detection of the rotational displacement of described motor, and angle displacement offset signal; Described DB box is for receiving the angular displacement offset signal of described angular displacement offset detector output and analyzing, and output feedback feedback signal is to described driver.
As preferred version, described motor comprises supporting outer, in described supporting outer, is equipped with motor stator, and the outside of described motor stator is provided with rotor, described rotor is placed in the inner chamber of motor rotor casing, and described rotor rotates with respect to described motor stator; Between described supporting outer and motor rotor casing, be provided with bearing.
As preferred version, described angular displacement offset detector comprises grating axle, grating encoder, read head and grating dust cover; On described supporting outer, offer annular groove, in described annular groove, be equipped with described grating axle, and described grating encoder is fixed on described grating axle; Described motor rotor casing is provided with described grating dust cover, and described read head is fixed on described grating dust cover, and described read head and the electric connection of described DB box; Described read head rotates with respect to described grating encoder, and for detection of the rotational displacement of described grating encoder, and angle displacement offset signal is to described DB box.
As preferred version, described bearing is provided with the spacing bearing of described bearing is compressed to shell and bearing compression inner casing, and described bearing compresses shell and is fixed on supporting outer, and described bearing compresses inner casing and is fixed on described motor rotor casing.
As preferred version, described bearing is slim crossed roller bearing.
As preferred version, on described supporting outer, be carved with graduation mark, and the prime direction of described graduation mark is identical with the angular displacement offset direction of described grating encoder.
As preferred version, described motor rotor casing is provided with the hickey that connects described laser scanner agent structure.
As preferred version, described rotor is electrically connected with described driver.
As preferred version, described driver and described DB box are electrically connected by pcb board.
The technique effect that the present invention reaches is as follows:
1, the present invention is by closed-loop control, and fast response time, surely the property put is high, can improve rotating speed and the angular displacement precision of controlling motor, accurately locates thereby realize whole disc type micro servo motor system rotating speed.
2, the present invention, by using slim crossed roller bearing, reduces disc type electric machine thickness; And within the scope of pay(useful) load, can bear the load of any direction.
3, the present invention is same direction by angular displacement offset direction and the supporting outer graduation mark prime direction of grating encoder, can guarantee that each operating position is same starting point, improves control accuracy; Adopt high-precision grating encoder, the precision control that realizes disc type micro servo motor system reaches a second level simultaneously.
4, disc type micro servo motor system architecture of the present invention is simple, low in energy consumption, quality is little, applied widely.
Brief description of the drawings
Fig. 1 is the structural representation of disc type micro servo motor system of the present invention;
Fig. 2 is the front view of motor in the present invention;
Fig. 3 is the half sectional view of motor in the present invention;
Fig. 4 is the top view of motor in the present invention;
Fig. 5 is the front view of DB box in the present invention;
Fig. 6 is the front view of driver in the present invention.
[symbol description]
100 motors
1 grating dust cover
2 grating axles
3 grating encoders
4 read heads
5 motor stators
6 bearings compress shell
7 rotors
8 motor rotor casings
9 bearings
10 supporting outers
11 bearings compress inner casing
200 angular displacement offset detectors
300DB box
301PCB plate
302 data wires
400 drivers
401PCB plate
500 external power supplys
600 laser scanner agent structures.
Detailed description of the invention
As shown in Figure 1, disc type micro servo motor system of the present invention is electrically connected with respectively external power supply 500 and laser scanner agent structure 600, described disc type micro servo motor system comprises the driver 400, motor 100, angular displacement offset detector 200, the DB(datebase that are electrically connected successively, database) box 300, described driver 400 also connects respectively described external power supply 500 and DB box 300, and described motor 100 connects described laser scanner agent structure 600; Under the effect of external power supply 500, described driver 400 output pulse signal drive motors 100 rotate, described motor 100 drives described laser scanner agent structure 600 to rotate, described angular displacement offset detector 200 is for detection of the rotational displacement of motor, and angle displacement offset signal is to described DB box 300, described DB box 300 is to described offset signal analysis and feed back feedback signal to described driver 400, makes described driver 400 adjust the pulse signal of output with the rotating speed of control motor 100. The present invention is by closed-loop control, and fast response time, surely the property put is high, can control rotating speed and the angular displacement precision of motor, accurately locates thereby realize whole disc type micro servo motor system rotating speed.
In the present embodiment, described laser scanner is three-dimensional laser scanner, for directly obtaining the three-dimensional data of various entities or outdoor scene. In addition, described driver 400 and DB box 300 are commercially available prod, do not repeat them here.
As shown in Fig. 2 ~ Fig. 4, the motor in the present invention comprises that described motor comprises stator system and rotor-support-foundation system, and described rotor-support-foundation system rotates with respect to stator system.
Described stator system comprises motor stator 5, supporting outer 10. And the interior accommodating described motor stator 5 of described supporting outer 10.
Described rotor-support-foundation system comprises motor rotor casing 8 and rotor 7. Described rotor 7 is arranged at the outside of described motor stator 5, and is placed in the inner chamber of described motor rotor casing 8.
Between described supporting outer 10 and motor rotor casing 8, be provided with bearing 9, in the present embodiment, described bearing 9 is slim crossed roller bearing, by adopting slim crossed roller bearing can reduce disc type electric machine thickness; And within the scope of pay(useful) load, make disc type micro servo motor system can bear any direction load.
Described bearing 9 is provided with the spacing bearing of described bearing 9 is compressed to shell 6 and bearing compression inner casing 11, described bearing compresses shell 6 and is secured by bolts on supporting outer 10, and described bearing compresses inner casing 11 and is also secured by bolts on described motor rotor casing 8. Wherein, described supporting outer 10 compresses the spacing outer ring of fixing described bearing 9 of shell 6 with bearing, and described motor rotor casing 8 and bearing compress the inner ring of the spacing fixing described bearing 9 of inner casing 11.
Wherein, described angular displacement offset detector 200 comprises grating dust cover 1, grating axle 2, grating encoder 3 and read head 4, on described supporting outer 10, offer annular groove, accommodating described grating axle 2 in described annular groove, and described grating axle 2 is secured by bolts on described supporting outer 10. Described grating encoder 3 is secured by bolts on described grating axle 2. Described motor rotor casing 8 is provided with described grating dust cover 1, and described read head 4 is fixed on described grating dust cover 1, and described read head 4 is electrically connected with described DB box 300. Described read head 4 moves with respect to described grating encoder 3, and for detection of the rotational displacement of described grating encoder 3, and angle displacement offset signal inputs to described DB box 300. The present invention adopts high-precision grating encoder, realizes the control of disc type micro servo motor system angle precision and reaches a second level, but not as limit, can set as required the encoder of other types. In addition, described grating dust cover 1 can hide grating axle 2 and grating encoder 3, prevents that dust from entering in grating encoder 3, affects control accuracy.
Described read head 4 is connected by data wire 302 with DB box 300; Described DB box 300, driver 400 are connected with pcb board 401 by pcb board 301, and pcb board 301 is connected by winding displacement with pcb board 401. Wherein, the pcb board 401 of described driver 400 is connected by wire with rotor 7, and wherein external power supply 500 is connected on the pcb board 401 of driver 400 by power line.
Wherein, on described supporting outer 10, be carved with graduation mark, and the angular displacement offset direction of the prime direction of described graduation mark and grating encoder 3 is same direction. In disc type micro servo motor system starting process, can return disc type micro servo motor system dead-center position by servo closed-loop system, guarantee that each operating position is same starting point, improve control accuracy.
Wherein, described motor rotor casing 8 is provided with the hickey (not shown) that connects described laser scanner agent structure 600.
When work, the stator system employing bolt of described disc type micro servo motor system etc. is fixed on A-frame, and the rotor-support-foundation system of disc type micro servo motor is bolted in three-dimensional laser scanner upper body structure. Wherein driver 400 connects external power supply 500, and described external power supply 500 provides disc type micro servo motor system works required power supply. Driver 400 sends pulse signal to described motor 100, and the rotor-support-foundation system of this pulse signal driving-disc formula micro servo motor drives the rotation of three-dimensional laser scanner upper body with certain rotating speed; Read head 4 on the rotor-support-foundation system of disc type micro servo motor has relative motion with respect to the grating encoder 3 on the stator system of disc type micro servo motor simultaneously, read head 4 is measured the angular displacement offset signal of grating encoder 3 by optoelectronic induction, and this signal is delivered in DB box 300, DB box 300 is by signal analysis, feedback signal is fed back to driver 400, driver 400 is according to feedback feedback signal, send and send pulse signal to motor 100, control its rotating speed and angular displacement precision. By closed-loop control, accurately locate thereby realize whole disc type micro servo motor system rotating speed.
The above, be only preferred embodiment of the present invention, is not intended to limit protection scope of the present invention.
Claims (7)
1. a disc type micro servo motor system, be connected with respectively external power supply and laser scanner agent structure, it is characterized in that, it comprises the driver, motor, angular displacement offset detector and the database D B box that are electrically connected successively, and described driver is also electrically connected respectively described external power supply and DB box, on described motor, connect described laser scanner agent structure; Described driver is for receiving the power supply signal of described external power supply, and output pulse signal; The pulse signal that described motor is exported for receiving described driver, and drive described laser scanner agent structure rotation; Described angular displacement offset detector is for detection of the rotational displacement of described motor, and angle displacement offset signal; Described DB box is for receiving the angular displacement offset signal of described angular displacement offset detector output and analyzing, and output feedback feedback signal is to described driver; Described motor comprises supporting outer, in described supporting outer, is equipped with motor stator, and the outside of described motor stator is provided with rotor, and described rotor is placed in the inner chamber of motor rotor casing, and described rotor rotates with respect to described motor stator; Between described supporting outer and motor rotor casing, be provided with bearing; Described angular displacement offset detector comprises grating axle, grating encoder, read head and grating dust cover; On described supporting outer, offer annular groove, in described annular groove, be equipped with described grating axle, and described grating encoder is fixed on described grating axle; Described motor rotor casing is provided with described grating dust cover, and described read head is fixed on described grating dust cover, and described read head and the electric connection of described DB box; Described read head rotates with respect to described grating encoder, and for detection of the rotational displacement of described grating encoder, and angle displacement offset signal is to described DB box.
2. disc type micro servo motor system according to claim 1, it is characterized in that, described bearing is provided with the spacing bearing of described bearing is compressed to shell and bearing compression inner casing, described bearing compresses shell and is fixed on supporting outer, and described bearing compresses inner casing and is fixed on described motor rotor casing.
3. disc type micro servo motor system according to claim 1, is characterized in that, described bearing is slim crossed roller bearing.
4. disc type micro servo motor system according to claim 1, is characterized in that, on described supporting outer, is carved with graduation mark, and the prime direction of described graduation mark is identical with the angular displacement offset direction of described grating encoder.
5. disc type micro servo motor system according to claim 1, is characterized in that, described motor rotor casing is provided with the hickey that connects described laser scanner agent structure.
6. disc type micro servo motor system according to claim 1, is characterized in that, described rotor is electrically connected with described driver.
7. disc type micro servo motor system according to claim 1, is characterized in that, described driver and described DB box are electrically connected by pcb board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410052693.9A CN103795309B (en) | 2014-02-17 | 2014-02-17 | Disc type micro servo motor system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410052693.9A CN103795309B (en) | 2014-02-17 | 2014-02-17 | Disc type micro servo motor system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103795309A CN103795309A (en) | 2014-05-14 |
| CN103795309B true CN103795309B (en) | 2016-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410052693.9A Expired - Fee Related CN103795309B (en) | 2014-02-17 | 2014-02-17 | Disc type micro servo motor system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105186948A (en) * | 2015-07-31 | 2015-12-23 | 摩多数据（深圳）有限公司 | Human body 3D scanning rotation speed self-adaptive control system and control method thereof |
| CN108427984A (en) * | 2017-10-20 | 2018-08-21 | 杭州创屹机电科技有限公司 | A kind of multifunctional currency count machine |
| CN108121201B (en) * | 2017-12-18 | 2021-06-22 | 北京和利时电机技术有限公司 | Internal position servo control method |
| CN114856422B (en) * | 2022-05-07 | 2023-06-02 | 中国矿业大学 | Full-autonomous mobile chassis control system and control method for drilling robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS614479A (en) * | 1984-06-19 | 1986-01-10 | Fuji Xerox Co Ltd | Speed control circuit of motor |
| JP2002250888A (en) * | 2001-02-22 | 2002-09-06 | Seiko Instruments Inc | Polygon scanner motor |
| CN101806580A (en) * | 2010-03-19 | 2010-08-18 | 东华大学 | Motion control system and method for high-precision image measuring apparatus |
| CN202630903U (en) * | 2012-03-13 | 2012-12-26 | 武汉迅能光电科技有限公司 | Three dimensional laser scanner |
-
2014
- 2014-02-17 CN CN201410052693.9A patent/CN103795309B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS614479A (en) * | 1984-06-19 | 1986-01-10 | Fuji Xerox Co Ltd | Speed control circuit of motor |
| JP2002250888A (en) * | 2001-02-22 | 2002-09-06 | Seiko Instruments Inc | Polygon scanner motor |
| CN101806580A (en) * | 2010-03-19 | 2010-08-18 | 东华大学 | Motion control system and method for high-precision image measuring apparatus |
| CN202630903U (en) * | 2012-03-13 | 2012-12-26 | 武汉迅能光电科技有限公司 | Three dimensional laser scanner |
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| CN103795309A (en) | 2014-05-14 |
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