CN106787469A - A kind of servomotor - Google Patents
A kind of servomotor Download PDFInfo
- Publication number
- CN106787469A CN106787469A CN201611227859.1A CN201611227859A CN106787469A CN 106787469 A CN106787469 A CN 106787469A CN 201611227859 A CN201611227859 A CN 201611227859A CN 106787469 A CN106787469 A CN 106787469A
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- China
- Prior art keywords
- controller
- rotor
- support bar
- protective casing
- magnetic head
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The invention discloses a kind of servomotor, including motor body and motor flange, also include：Protective casing, protective casing is connected with motor flange；Support bar, support bar can follow the rotor of motor body to rotate, and support bar is provided with magnetic head away from one end of rotor, and support bar is provided with one end of magnetic head and can go deep into protective casing；Controller, controller is arranged in protective casing, for the operating parameters of controlled motor body；Rotor-position detector, rotation and movable signal for obtaining magnetic head, rotor-position detector is connected with controller；Driver, driver is arranged in protective casing, and for motor operating, driver is connected with controller.Servomotor provided by the present invention, can effectively improve the control accuracy of controller, while, reduce the volume of motor, increased the ease for use of micro servo motor, reduce the difficulty of matching of each part, be conducive to action control miniaturization, become more meticulous, it is intelligent.
Description
Technical field
The present invention relates to motor manufacturing and control field, more particularly to a kind of servomotor.
Background technology
, it is necessary to motor, three critical pieces of encoder and controller in the application of micro servo motor, at present, the above
Three main parts are separate, are separately provided, it is necessary to user is combined matching according to application demand, in user's type selecting mistake
Need to investigate many technologies of product in journey.
However, because the matching requirements between each part are different, it is necessary to carry out secondary operation to some parts also, right
In the controller of standard design, the function that can be realized is limited, it is impossible to meets the special demand for control of all users, causes user
, it is necessary to carry out secondary development on the basis of controller when realizing specific control function, the specialty for technical staff is known
Know requirement higher, and secondary development high cost, it is poor for applicability.
Meanwhile, at present for micro servo motor when using, because each part is separately provided, the space of occupancy is larger,
Also, controller is poor for the acquisition precision of motor operation information.
Therefore, the reliability and applicability of servomotor how are improved, is that those skilled in the art need to solve at present
Technical problem.
The content of the invention
It is an object of the invention to provide a kind of servomotor, the servomotor is designed by integrated form, improves integrated level, is subtracted
Small volume, and quick obtaining motor operation information, can timely be fed back, it is possible to achieve the two-way biography of information
Defeated, control accuracy is high.
To achieve the above object, the present invention provides following technical scheme：
A kind of servomotor, including motor body and motor flange, also include：
Protective casing, the protective casing is connected with the motor flange；
Support bar, the support bar can follow the rotor of the motor body to rotate, and the support bar is away from the rotor
One end magnetic head is installed, and the support bar one end of the magnetic head is installed can deeply to inside the protective casing；
Controller, the controller is arranged in the protective casing, the operating parameters for controlling the motor body；
Rotor-position detector, rotation and movable signal for obtaining the magnetic head, the rotor-position detector with
The controller connection；
Driver, the driver is arranged in the protective casing, for driving the motor body to operate, the drive
Dynamic device is connected with the controller.
Preferably, the protective casing includes connecting plate and protective cover, and the connecting plate is connected with the motor flange, institute
Protective cover is stated to be detachably connected with the connecting plate.
Preferably, offered on the connecting plate for the through hole inside the support bar insertion protective casing.
Preferably, the end of the rotor is provided with screwed hole, and one end of the support bar is provided with and can match somebody with somebody with the screwed hole
Close the external screw thread of connection.
Preferably, the support bar offers the groove for mounting magnetic head away from described externally threaded one end.
Preferably, communication module is also equipped with the circuit board, the communication module was used at the controller and end
Data are transmitted between end, and the communication module is connected with the controller.
Preferably, also including for installing the controller, the rotor-position detector, the driver and described
The circuit board of communication module, the circuit board is suspended in one end that the support bar is provided with the magnetic head；The rotor-position
Detector is installed on one side of the circuit board near the magnetic head, and corresponding with the position of the magnetic head.
Preferably, the copper post for supporting the circuit board is additionally provided with the protective casing.
Servomotor provided by the present invention, including motor body and motor flange, also include：Protective casing, it is described anti-
Protective case body is connected with the motor flange；Support bar, the support bar can follow the rotor of the motor body to rotate, the branch
Strut is provided with magnetic head away from one end of the rotor, and the support bar is provided with one end of the magnetic head and can go deep into institute
State inside protective casing；Controller, the controller is arranged in the protective casing, the fortune for controlling the motor body
Make parameter；Rotor-position detector, rotation and movable signal for obtaining the magnetic head, the rotor-position detector and institute
State controller connection；Driver, the driver is arranged in the protective casing, for motor operating, the driving
Device is connected with the controller.The servomotor, the controller can control the operating parameters of the motor body to change, and lead to
Motor body described in the driver drives is crossed to rotate, and the coding constituted using the rotor-position detector and the magnetic head
Device, obtains the real-time function situation of the motor body as feedback, is transferred to the controller, improves the control of the controller
Precision processed, meanwhile, the servomotor is by by the controller, the driver, the position sensor and the magnetic head
It is integrated in the protective casing, reduces the volume of motor, increased the ease for use of micro servo motor, reduces each part
Difficulty of matching, be conducive to action control miniaturization, become more meticulous, it is intelligent.
In a preferred embodiment, communication module is also equipped with the circuit board, the communication module is used for
Data are transmitted between the controller and terminal, also, the communication module is connected with the controller.Above-mentioned setting, passes through
The element tasks such as the setting of the communication module, it is possible to achieve level conversion, the treatment of physical layer data, the communication module leads to
Bus on oversampling circuit plate is realized being connected with driver, and the communication module can realize the communication of the controller and terminal, i.e.,
Realize that motor body is connected with the communication of terminal, be capable of achieving setting to the parameter of electric machine in terminal software, mode of operation sets
Fixed, while order can be sent to motor body in real time, receive motor status information etc., intelligence degree is improved.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of specific embodiment of servomotor provided by the present invention；
Wherein：1- motor bodies, 2- motor flanges, 3- connecting plates, 4- support bars, 5- magnetic heads, 6- protective covers, 7- rotors position
Put detector, 8- circuit boards, 9- copper posts.
Specific embodiment
Core of the invention is to provide a kind of servomotor, and the servomotor significantly improves the integrated level of itself, body
Product reduces, and control accuracy is high, strong applicability.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is refer to, Fig. 1 is a kind of structural representation of specific embodiment of servomotor provided by the present invention.
In this embodiment, servomotor includes motor body 1 and motor flange 2, and motor flange 2 is arranged on motor sheet
One end of body 1, the motor also includes protective casing, support bar 4, controller, rotor-position detector 7 and driver.
Wherein, protective casing is connected with motor flange 2, and support bar 4 can follow the rotor of motor body 1 to rotate, support bar 4
One end away from rotor is provided with magnetic head 5, and support bar 4 is provided with one end of magnetic head 5 and can go deep into protective casing, turns
Sub- position sensor 7 can utilize magnetic head 5 to obtain the information such as rotor speed and the turned position of motor body 1；Controller is pacified
In protective casing, for the operating parameters change of controlled motor body 1；Rotor-position detector 7, for obtaining magnetic head 5
Rotation and movable signal, rotor-position detector 7 is connected with controller, can send to control the rotor turn signal of acquisition
Device processed；Driver is arranged in protective casing, is operated for motor body 1, and driver is connected with controller, specifically,
Controller realizes the control to the rotation of motor body 1 by the control to driver.
Specifically, motor body 1 is permanent magnet DC motor, motor body 1 a diameter of 40-50mm, length 90-110mm, magnetic
Number of pole-pairs is preferably 4 pairs of poles.
Further, the end of rotor is provided with screwed hole, and one end of support bar 4 is provided with the outer spiral shell that can be connected with screwed hole
Line, meanwhile, support bar 4 offers the groove for installing magnetic head 5 away from externally threaded one end.Specifically, motor body 1 turn
Sub- rear end processes the screwed hole of M3, and depth is 4-6mm, a diameter of 3-5mm of corresponding support bar 4, one end processing of support bar 4
Into the external screw thread of M3, externally threaded length is 2-4mm, by the screwed hole on the external screw thread and rotor on support bar 4, realizes branch
The connection of strut 4 and rotor.The end face of the other end of support bar 4 processes the circular groove of a diameter of 2.0-2.2mm, i.e., blind
Hole, depth 1.5-2.5mm, magnetic head 5 is cylinder, diameter 2.0-2.2mmmm, height 1.5-2.5mm.Magnetic head 5 is adhered to
State in groove, realize the connection of magnetic head 5 and support bar 4.
Need exist for explanation, the working depth of screwed hole, diameter and externally threaded diameter on support bar 4 in rotor
And depth, and magnetic head 5 size etc., should set as needed, it is not limited to structure and chi given by the present embodiment
It is very little.
Meanwhile, the data processor of rotor-position detector 7, i.e. controller, using special SOC systems, are used in this example
AS5040 realizes that the position resolution of the controller is 10bit, the connection with driver is realized by spi bus, to control
Rotor is rotated.Specifically, the current location of the energy real-time detection rotor of rotor-position detector 7, the output of rotor-position detector 7
Signal required feedback signal for controller is provided, rotor-position detector 7 is connected by the bus on circuit board 8 with controller
Connect.
In addition, driver is made up of 3 road full-bridge circuits and controller, full-bridge circuit is by 6 metal-oxide-semiconductors and its drive circuit structure
Into controller is realized by GD32F103C8T6 chips.GD32F103C8T6 chips are realized to 6 metal-oxide-semiconductors using PWM controller
Control, realizes the control of each phase current voltage of motor, while controller receives the output of rotor-position detector 7, to realize turning
Sub- position, the detection of spinner velocity.
The servomotor, controller can be rotated with the operating parameters of controlled motor body 1 by driver drives motor,
And the encoder constituted using rotor-position detector 7 and magnetic head 5, the real-time function situation of motor body 1 is obtained as feedback,
Be transferred to controller, improve the control accuracy of controller, the servomotor by by controller, driver, position sensor with
And magnetic head 5 is integrated in protective casing, the volume of motor is reduced, increased the ease for use of micro servo motor, reduced each
The difficulty of matching of part, be conducive to action control miniaturization, become more meticulous, it is intelligent.
Further, protective casing includes connecting plate 3 and protective cover 6, and connecting plate 3 is connected with motor flange 2, can specifically adopt
It is connected with, protective cover 6 is detachably connected with connecting plate 3, can be equally connected by screw bolts.Meanwhile, opened up on connecting plate 3
Have for the through hole inside the insertion protective casing of support bar 4, the diameter of through hole can be slightly larger than the diameter of support bar 4.
On the basis of the respective embodiments described above, communication module is also equipped with circuit board 8, communication module is used in control
Data are transmitted between device and terminal, also, communication module is connected with controller.
Above-mentioned setting, by the setting of communication module, it is possible to achieve level conversion, the basis such as treatment of physical layer data work
Make, communication module is realized being connected with driver by the bus on circuit board 8, communication module can realize that controller is logical with terminal
Letter, that is, realize that motor body 1 is connected with the communication of terminal, and the setting to the parameter of electric machine, Working mould are capable of achieving in terminal software
The setting of formula, while order can be sent to motor body 1 in real time, receive motor status information etc., intelligence degree is improved.
Specifically, Transistor-Transistor Logic level is converted to RS232 electricity by communication module by RS232 circuit realirations by the circuit realiration
It is flat, realize that device is MAX3232.
On the basis of the respective embodiments described above, also including for installing controller, rotor-position detector 7, driver
And the circuit board 8 of communication module, circuit board 8 is suspended in one end that support bar 4 is provided with magnetic head 5；Rotor-position detector 7 is pacified
The one side of magnetic head 5 is close to loaded on circuit board 8, and it is corresponding with the position of magnetic head 5.
Preferably, the copper post 9 for supporting circuit board 8 is additionally provided with protective casing.
Explanation is needed exist for, in order to reduce the volume of the servomotor as far as possible, i.e., protection is reduced as far as possible
The volume of housing, should meet under conditions of each device and plug connector installing space are allowed on circuit board, reduce as far as possible
The height of copper post 9, that is, reduce the distance between circuit board 8 and motor body 1, realizes miniaturization combination.
The setting of foregoing circuit plate 8, the signal processor of rotor-position detector 7, i.e. controller and drive control device and
Communication module is integrated on one piece of circuit board 8, and circuit board 8 is fixed on connecting plate 3 by copper post 9, can conveniently be installed, structure
It is compacter.Meanwhile, plug connector is also equipped with circuit board 8, for the connection between each device, for example, the three of motor body 1
Phase line realizes the connection with driver by flexible circuit conductor and connector.
The servomotor that the present embodiment is provided, by permanent magnet DC motor, rotor-position detector 7, driver, controller
And communication module is constituted.Wherein, permanent magnet DC motor is made up of coil stator and p-m rotor；Rotor-position detector 7 and magnetic
First 5 and signal processor coordinate；Controller is made up of power device, microcontroller；Communication system is by RS232 circuits or RS485
Or CAN is realized.The magnetic head 5 of rotor-position detector 7 is connected by support bar 4 with the rotor of motor body 1, rotor-position
The signal processor of detector 7 is integrated on one piece of circuit board 8 with driver and controller and communication module, and circuit board 8 passes through
Copper post 9 is fixed in protective casing.
Specifically, when the servomotor is assembled, first support bar 4 should be arranged in the screwed hole of rotor, then will
Connecting plate 3 is fixed on motor flange 2, and follow-up copper post 9 is fixed on connecting plate 3, then will install the circuit board 8 of each device
It is erected in copper post 9, finally protective cover 6 is fixed on connecting plate 3.
Servomotor provided by the present invention, significantly improves integrated level, reduces volume, and intelligence degree is improved,
Under the control of upper computer software, i.e. terminal, man-machine interaction is capable of achieving, to adapt to different application scenarios.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Servomotor provided by the present invention is described in detail above.Specific case used herein is to this hair
Bright principle and implementation method is set forth, the explanation of above example be only intended to help understand the method for the present invention and its
Core concept.It should be pointed out that for those skilled in the art, not departing from the premise of the principle of the invention
Under, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into the protection of the claims in the present invention
In the range of.
Claims (8)
1. a kind of servomotor, including motor body (1) and motor flange (2), it is characterised in that also include：
Protective casing, the protective casing is connected with the motor flange (2)；
Support bar (4), the support bar (4) can follow the rotor of the motor body (1) to rotate, the support bar (4) away from
One end of the rotor is provided with magnetic head (5), and the support bar (4) one end of the magnetic head (5) is installed can deeply extremely
Inside the protective casing；
Controller, the controller is arranged in the protective casing, the operating parameters for controlling the motor body (1)；
Rotor-position detector (7), rotation and movable signal for obtaining the magnetic head (5), the rotor-position detector
(7) it is connected with the controller；
Driver, the driver is arranged in the protective casing, for driving the motor body (1) to operate, the drive
Dynamic device is connected with the controller.
2. servomotor according to claim 1, it is characterised in that the protective casing includes connecting plate (3) and protection
Cover (6), the connecting plate (3) is connected with the motor flange (2), and the protective cover (6) detachably connects with the connecting plate (3)
Connect.
3. servomotor according to claim 2, it is characterised in that offered on the connecting plate (3) for the support
Bar (4) inserts the through hole inside the protective casing.
4. servomotor according to claim 1, it is characterised in that the end of the rotor is provided with screwed hole, the branch
One end of strut (4) is provided with the external screw thread that can be connected with the screwed hole.
5. servomotor according to claim 4, it is characterised in that the support bar (4) is away from described externally threaded
End offers the groove for mounting magnetic head (5).
6. the servomotor according to claim 1 to 5 any one, it is characterised in that also installed on the circuit board (8)
Have a communication module, the communication module is used to transmit data between the controller and terminal, and the communication module with
The controller connection.
7. servomotor according to claim 6, it is characterised in that also including for install the controller, described turn
The circuit board (8) of sub- position sensor (7), the driver and the communication module, the circuit board (8) is suspended in described
Support bar (4) is provided with one end of the magnetic head (5)；The rotor-position detector (7) is installed on the circuit board (8) and is close to
The one side of the magnetic head (5), and it is corresponding with the position of the magnetic head (5).
8. servomotor according to claim 7, it is characterised in that be additionally provided with the protective casing described for supporting
The copper post (9) of circuit board (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611227859.1A CN106787469A (en) | 2016-12-27 | 2016-12-27 | A kind of servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611227859.1A CN106787469A (en) | 2016-12-27 | 2016-12-27 | A kind of servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106787469A true CN106787469A (en) | 2017-05-31 |
Family
ID=58921879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611227859.1A Pending CN106787469A (en) | 2016-12-27 | 2016-12-27 | A kind of servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106787469A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177148A (en) * | 2018-02-01 | 2018-06-19 | 上海有个机器人有限公司 | A kind of wheel driver, driving wheel and wheeled robot |
| CN108718127A (en) * | 2018-05-05 | 2018-10-30 | 深圳市唯川科技有限公司 | A kind of drag cup servo electrical machinery system |
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|---|---|---|---|---|
| CN1113358A (en) * | 1994-03-14 | 1995-12-13 | 富士电机株式会社 | Servomotor |
| CN1531172A (en) * | 2003-03-06 | 2004-09-22 | ��Ħ��������ʽ���� | Servo-type motor with built-in driving circuit |
| CN104578560A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Servo motor electronic driving mechanism |
| CN105370593A (en) * | 2015-12-04 | 2016-03-02 | 南京胜捷电机制造有限公司 | Automobile air conditioner blower driven by brushless direct current motor |
| CN205583940U (en) * | 2016-04-27 | 2016-09-14 | 无锡市河埒传感器有限公司 | Motor axle head rotating permanent magnet angle dispensing device |
| CN106165266A (en) * | 2014-10-10 | 2016-11-23 | 株式会社安川电机 | Motor and motor encoder |
| CN205753868U (en) * | 2016-05-23 | 2016-11-30 | 阜新德尔汽车部件股份有限公司 | Automobile electric booster steering system Brushless DC Motor Position sensing device |
-
2016
- 2016-12-27 CN CN201611227859.1A patent/CN106787469A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1113358A (en) * | 1994-03-14 | 1995-12-13 | 富士电机株式会社 | Servomotor |
| CN1531172A (en) * | 2003-03-06 | 2004-09-22 | ��Ħ��������ʽ���� | Servo-type motor with built-in driving circuit |
| CN104578560A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Servo motor electronic driving mechanism |
| CN106165266A (en) * | 2014-10-10 | 2016-11-23 | 株式会社安川电机 | Motor and motor encoder |
| CN105370593A (en) * | 2015-12-04 | 2016-03-02 | 南京胜捷电机制造有限公司 | Automobile air conditioner blower driven by brushless direct current motor |
| CN205583940U (en) * | 2016-04-27 | 2016-09-14 | 无锡市河埒传感器有限公司 | Motor axle head rotating permanent magnet angle dispensing device |
| CN205753868U (en) * | 2016-05-23 | 2016-11-30 | 阜新德尔汽车部件股份有限公司 | Automobile electric booster steering system Brushless DC Motor Position sensing device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177148A (en) * | 2018-02-01 | 2018-06-19 | 上海有个机器人有限公司 | A kind of wheel driver, driving wheel and wheeled robot |
| CN108718127A (en) * | 2018-05-05 | 2018-10-30 | 深圳市唯川科技有限公司 | A kind of drag cup servo electrical machinery system |
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Application publication date: 20170531 |
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