CN109802608A - Drive control apparatus, integrated electric motor and automatic control system - Google Patents
Drive control apparatus, integrated electric motor and automatic control system Download PDFInfo
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- CN109802608A CN109802608A CN201910177360.1A CN201910177360A CN109802608A CN 109802608 A CN109802608 A CN 109802608A CN 201910177360 A CN201910177360 A CN 201910177360A CN 109802608 A CN109802608 A CN 109802608A
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- stepper motor
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- rear end
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- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a kind of drive control apparatus, integrated electric motor and automatic control systems, by the drive control apparatus at least having driver functions and stepper motor ontology being connected to form one motor, thus avoid it is existing by driver and motor body it is separately positioned and existing be easy to be interfered, wire rod and the problems such as high labor cost；Drive control apparatus includes housing and in the circuit board in housing, drive control circuit is provided on circuit board and the I/O connecting terminal that is connected with drive control circuit, the wiring direction and housing side of I/O connecting terminal form certain angle and are revealed in outside housing from housing side, the I/O connection plug of connection of matching in this way with I/O connecting terminal can be inserted into from housing side surface direction, save the installation space of motor body axial direction；At least one target component can be also also set up on circuit boards, and at least one through slot being arranged by housing end face is exposed to outside housing, so that realizing that housing side and end face combine carries out rational deployment.
Description
Technical field
The present invention relates to Motor Control Field more particularly to drive control apparatus, integrated electric motor and automation control system
System.
Background technique
Motor driver is a kind of product being widely used in Industry Control and automated production, such as certainly applied to 3C
A variety of automation control industries such as dynamicization, single-shaft mechanical arm, logistics.In present automation equipment, controller, driver and
(i.e. executing agency is typically self-existent for motor body.It is physically individual three components/devices.Normal controller
It is mounted in the dedicated power control cabinet of automation equipment with driver, executing agency (refers generally to stepper motor ontology or servo motor
Ontology) it is generally mounted to the transmission shaft end of automation equipment, this automation equipment has the disadvantage in that the body of automation equipment
Product is difficult to reduce, and needs longer signal wire to connect between driver and motor body, is easy to be interfered, having between component
Line connection needs wire rod and artificial cost consumption.
Therefore it provides can be current skill urgently to be solved by the integrated electric motor that driver and motor body integrate
Art problem.And since the installation space of motor body is limited, driver upper port quantity is more, therefore by driver and motor sheet
How driver upper port is specifically laid out also particularly important preferably to adapt to limited installation space after body integrates.
Summary of the invention
The present invention provides drive control apparatus, integrated electric motor and automatic control system, solve existing driver with
Motor body it is separately positioned there are the problem of and the rear port that integrates of driver and motor body how rational deployment
The problem of.
To solve the above-mentioned problems, the present invention provides a kind of drive control apparatus of integrated electric motor, the driving controls
Control equipment and stepper motor ontology being connected to form one motor, the drive control apparatus includes housing, the cover of the housing
Shell end face is opposite with the stepper motor ontology rear end face, turn of the housing side of the housing and the stepper motor ontology
Axis is parallel；
The drive control apparatus further includes the circuit board being set in the housing, and driving is provided on the circuit board
Control circuit and the I/O wiring units being connected with drive control circuit, the I/O connecting terminal of the I/O wiring units connect
Line direction and the housing side form certain angle and are revealed in outside housing from the housing side, in order to connect with I/O
Line terminals match connection I/O connection plug insertion；
Wherein, it is additionally provided at least one target component on the circuit board, and is arranged at least by housing end face
One through slot is exposed to outside housing.
Optionally, the angle that the wiring direction of the I/O connecting terminal and the housing side are formed is 90 °.
Optionally, the I/O connection plug is screw pressure line type plug.
Optionally, the target component includes at least one of communication bus terminal and toggle switch.
Optionally, the target component includes communication bus terminal and toggle switch, the communication bus terminal and is dialled
Code switch is respectively arranged at opposite sides or adjacent two sides on the circuit board, and the through slot includes being located at the housing end face
On opposite sides or adjacent two sides and respectively the first through slot corresponding with the communication bus terminal and toggle switch and
Second through slot；One end that the communication bus terminal is connect with communication bus plug is exposed outside by first through slot, institute
It is exposed outside by second through slot to state toggle switch.
Optionally, at least one of first through slot and second through slot housing side adjacent thereto communicate.
Optionally, the communication bus terminal includes at least one of the following:
RS485 communication terminal, RS232 communication terminal, CAN communication terminal, Ethercat communication terminal.
Optionally, the I/O connecting terminal includes the power supply terminal and ground terminal of power supply source input.
Optionally, the I/O connecting terminal further includes at least one of lower terminal:
Control terminal for input control signal, the setting terminal for inputting setting signal.
To solve the above-mentioned problems, the present invention also provides a kind of integrated electric motor, including stepper motor ontology and as above
The drive control apparatus is provided with for connecting with the drive control apparatus in the stepper motor ontology rear end face
Attachment screw hole, the housing, circuit board are respectively arranged with position screwing through hole corresponding with the screw hole, attachment screw
It sequentially passes through the housing, the attachment screw through-hole on circuit board and screws in corresponding in the stepper motor ontology rear end face
In attachment screw hole, the housing, circuit board and the stepper motor ontology are connected as an entirety；
Attachment screw hole in the stepper motor ontology rear end face is two or three, and at least two attachment screws
The pairs of linea angulata setting in hole.
Optionally, in the attachment screw hole being arranged in the stepper motor ontology rear end face, including at least one is not passed through
Wear the second screw hole of the front-end and back-end of the stepper motor ontology, the attachment screw includes screw in second screw hole the
Two screws；
And/or
In the attachment screw hole being arranged in the stepper motor ontology rear end face, including at least one is electric through the stepping
First screw hole of the front-end and back-end of machine ontology, the attachment screw further include the first screw for screwing in first screw hole,
First screw runs through the front-end and back-end of the stepper motor ontology.
Optionally, the drive control apparatus further includes being set to the circuit board and stepper motor ontology rear end end
Bracket between face, the circuit board one side opposite with the bracket are back of circuit board, are also set on the back of circuit board
It is equipped with magnetic coder, region corresponding with the magnetic coder is provided with for magnetic coder acquisition information on the bracket
First through hole；
Second through-hole opposite with the first through hole position is provided in the stepper motor ontology rear end face, it is described
The magnetic sheet for being provided with electric motor back shaft in second through-hole and being fixed on the electric motor back shaft；
The integrated electric motor further includes being set between the bracket and stepper motor ontology rear end, with described the
One through-hole and second through-hole is concentric and the concentric locating boss of interior sky；The bracket is fixed on the stepper motor ontology
When rear end, the first through hole is directed at connection by concentric locating boss realization with second through-hole, with described first
Magnetic sheet in the corresponding magnetic coder of through-hole phase position and second through-hole on electric motor back shaft forms magnetic cooperation.
Optionally, the bracket is cradle back, the concentric locating boss close to the one side of the stepper motor ontology
It is arranged in the cradle back around the first through hole；Second through-hole close to the cradle back opening inside diameter with
The outer diameter of the concentric locating boss is adapted；It is described concentric when the bracket is fixed on the stepper motor ontology rear end
Positioning convex platform is embedded in second through-hole, realizes that the first through hole is connect with the alignment that second through-hole leads to；
Or,
The concentric locating boss is arranged in the cradle back around the first through hole；The stepper motor ontology
It is compatible with the diameter of the concentric locating boss second concentric that second through-hole is provided with diameter in rear end face
Positioning groove；When the bracket is fixed on the stepper motor ontology rear end, the concentric locating boss insertion described second
Concentric locating groove realizes that the first through hole is connect with the alignment that second through-hole leads to；
Or,
The concentric locating boss is arranged in the stepper motor ontology rear end face around second through-hole；It is described
First through hole is adapted close to the opening inside diameter of the stepper motor ontology rear end face with the outer diameter of the concentric locating boss；
When the bracket is fixed on the stepper motor ontology rear end, the concentric locating boss is embedded in the first through hole, realizes
The first through hole is connect with the alignment that second through-hole leads to；
Or,
The concentric locating boss is arranged in the stepper motor ontology rear end face around second through-hole；It is described
It is compatible with the diameter of the concentric locating boss first concentric that the first through hole is provided with diameter in cradle back
Positioning groove；When the bracket is fixed on the stepper motor ontology rear end, the concentric locating boss insertion described first
When concentric locating groove, realize that the first through hole is connect with the alignment that second through-hole leads to.
Optionally, the drive control apparatus further includes being set to the circuit board and stepper motor ontology rear end end
Bracket between face, the circuit board one side opposite with the bracket are back of circuit board, are also set on the back of circuit board
It is equipped with magnetic coder, region corresponding with the magnetic coder is provided with for magnetic coder acquisition information on the bracket
First through hole；
Position the second through-hole corresponding with the first through hole, institute are provided in the stepper motor ontology rear end face
State the magnetic sheet for being provided with electric motor back shaft in the second through-hole and being fixed on the electric motor back shaft；Stepper motor ontology rear end end
Positioning column is additionally provided on face；
It is provided with first positioning through hole opposite with the positioning column position on the bracket, is provided on the circuit board
It is opposite with the positioning column position, and the second positioning through hole that its internal diameter and the positioning column outer diameter match, it is described when installation
Positioning column sequentially passes through the first positioning through hole on the bracket and the second positioning through hole on circuit board, on the circuit board
Magnetic coder forms magnetic cooperation by the magnetic sheet in the first through hole and second through-hole.
Optionally, the first auxiliary positioning hole is provided in the stepper motor ontology rear end face, in the cradle back
It is additionally provided with position the first auxiliary positioning column corresponding with first auxiliary positioning hole, the bracket is fixed on the step
When into motor body rear end, the first auxiliary positioning column is embedded in first auxiliary positioning hole.
Optionally, one side of the bracket far from the stepper motor ontology is bracket front, is set on the bracket front
It is equipped with the second auxiliary positioning column, position the second auxiliary corresponding with the second auxiliary positioning column is provided on the circuit board
Location hole, during installation, the second auxiliary positioning column insertion second auxiliary positioning hole are used for fixing circuit board.
Optionally, one side of the bracket far from the stepper motor ontology is bracket front, is gone back on the bracket front
It is provided with support rim, the back of circuit board was resisted against on the support rim and was formed between the bracket front when installation
Component accommodation space, in the component position component accommodation space on the back of circuit board.
Optionally, the bracket is insulating material support and/or the bracket is that thermal coefficient is lower than default thermal coefficient
The low Heat Conduction Material bracket of threshold value.
Optionally, the bracket, circuit board, housing are in turn secured to from bottom to up on stepper motor ontology rear end
Afterwards, at least one side of the bracket is located in the housing.
Optionally, the circuit board one side opposite with the stepper motor ontology rear end face is back of circuit board, institute
It states and is provided with magnetic coder on back of circuit board；
It is provided with the second through-hole in the stepper motor ontology rear end face, is provided with electric motor back shaft in second through-hole
And it is fixed on the magnetic sheet on the electric motor back shaft；Positioning column is additionally provided in the stepper motor ontology rear end face；
It is provided with opposite with the positioning column position on the circuit board, and its internal diameter and the pin outer diameter match
Second positioning through hole, when installation, the positioning column passes through the second positioning through hole on the circuit board, the magnetic on the circuit board
The magnetic sheet in encoder and second through-hole forms magnetic cooperation；
First circuit board carrying protrusion is provided at least one described positioning column, the positioning column passes through the circuit board
On the second positioning through hole after, the circuit board is resisted against in first circuit board carrying protrusion；
And/or
At least one second circuit board carrying protrusion is provided in the stepper motor ontology rear end face, it is described fixed
After position column passes through the second positioning through hole on the circuit board, the circuit board is resisted against the second circuit board carrying protrusion
On.
Optionally, the housing includes shroud body, and the circuit board is set in the shroud body, the housing sheet
Internal side region corresponding with heating element on the circuit board is provided at least one extended to the circuit board direction
Thermally conductive boss, the thermally conductive boss conduct the heat that the heating element generates to shroud body, by shroud body to
It distributes outside.
Optionally, the one side of the circuit board and the stepper motor ontology rear end face is back of circuit board, the electricity
Magnetic coder is additionally provided in the back of road；The drive control circuit is used to control the stepping in magnetic coder calibration phase
Motor body is run under open loop situations with pre-set velocity, and in the stepper motor ontology with the pre-set velocity even running
Afterwards, the speed increment in prefixed time interval is obtained；
The speed increment is obtained into harmonic component by Fourier transformation, according in the harmonic component because the magnetic compile
Target harmonic component caused by code device assembling deviation obtains rectification building-out parameter and is stored；
Or, finding this according to the speed increment and preset speed increment and rectification building-out parameter mapping table
The corresponding rectification building-out parameter of speed increment is stored.
To solve the above-mentioned problems, the present invention also provides a kind of automatic control system, including executing agency and as above
The integrated electric motor, the stepper motor main body are connect with the executing agency, and the drive control apparatus passes through described
Executing agency described in stepper motor main body control executes corresponding movement.
Beneficial effects of the present invention:
The present invention provides drive control apparatus, integrated electric motor and automatic control system, will at least have driver function
The drive control apparatus and stepper motor ontology being connected to form one motor of energy, to avoid existing by driver and motor sheet
Body is separately positioned and existing to be easy to be interfered, wire rod and the problems such as high labor cost；Drive control provided by the invention is set
Standby includes housing, and the housing end face of housing is opposite with the end face of stepper motor ontology rear end, the housing side of housing and stepping electricity
The shaft of machine ontology is parallel；The circuit board of drive control apparatus is set in housing, and drive control circuit is provided on circuit board
The I/O wiring units being connected with drive control circuit, the wiring direction of the I/O connecting terminal of I/O wiring units and housing
Side forms certain angle and is revealed in outside housing from housing side, and the I/O for the connection that matches in this way with I/O connecting terminal connects
Line plug can be inserted into from housing side surface direction, save the installation space of motor body axial direction, enable integrated electric motor more preferable
The limited installation space of adaptation；In addition, can also also set up at least one target component on circuit boards in the present invention, and
At least one through slot being arranged by housing end face is exposed to outside housing；To realize that housing side and end face are closed
Removing the work office, the convenience that can be taken into account space and install and use can further promote the satisfaction of user's experience.
Detailed description of the invention
Fig. 1 is a kind of integrated electric motor stereoscopic schematic diagram one provided in an embodiment of the present invention；
Fig. 2 is a kind of integrated electric motor stereoscopic schematic diagram two provided in an embodiment of the present invention；
Fig. 3 is the perspective view of the explosion one of integrated electric motor shown in FIG. 1；
Fig. 4 is the perspective view of the explosion two of integrated electric motor shown in FIG. 1；
Fig. 5 is the perspective view of the explosion three of integrated electric motor shown in FIG. 1；
Fig. 6 is the housing end face plane schematic diagram of the housing of integrated electric motor shown in FIG. 1；
Fig. 7 is the housing inside structure schematic diagram of the housing of integrated electric motor shown in FIG. 1；
Fig. 8 is another perspective view of the explosion one of integrated electric motor shown in FIG. 1；
Fig. 9 is another perspective view of the explosion two of integrated electric motor shown in FIG. 1；
Figure 10 is another integrated electric motor stereoscopic schematic diagram provided in an embodiment of the present invention；
Figure 11 is integrated electric motor control flow schematic diagram provided in an embodiment of the present invention；
Figure 12 is magnetic coder correcting process schematic diagram provided in an embodiment of the present invention；
Figure 13 is stepping motor control apparatus structural schematic diagram provided in an embodiment of the present invention；
In figure: 1 is drive control apparatus, and it is housing, 110 are that 2, which be stepper motor ontology, and 11 be bracket, and 12 be circuit board
First through hole, 111 be the first auxiliary positioning column, and 112 be the second auxiliary positioning column, and 113 be support rim, and 114 place through-hole,
115 be concentric locating boss, and 116 be the first positioning through hole on bracket, and 117 is, around line three-way hole, 121 are I/O connecting terminal,
122 be RS485 communication terminal, and 123 be toggle switch, and 124 be capacitor, and 125 be magnetic coder, and 126 be heating element, 127
Second auxiliary positioning hole, 128 be the second positioning through hole on circuit board, and 131 be long spiro nail, and 132 be short screw, and 133 be instruction
Lamp, 134 be indicator light window, and 135 be the second through slot, and 136 be the first through slot, and 137 be thermally conductive boss, and 138 is fixed for housing height
Position boss, 1301 be data interaction module, and 1302 be data processing module, and 1303 be control module, and 1304 be alarm mould, 1305
It is stepper motor ontology rear end face for protective module, 20,21 be electric motor back shaft, and 22 be the second through-hole, and 221 be ring-shaped step,
23 be fixing sleeve, and 24 be magnetic sheet, and 241 be the second screw hole cooperated with short screw, and 242 be the first screw cooperated with long spiro nail
Hole, 25 be the first auxiliary positioning hole, and 26 be pin.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiment in the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Below by specific embodiment combination attached drawing, invention is further described in detail.
Embodiment one:
Integrated electric motor provided in this embodiment includes drive control apparatus and motor body, drive control apparatus and motor
Ontology being connected to form one motor.Drive control apparatus in the present embodiment can integration realization motor driver driving function
Can, and it is optional, can also integration realization controller at least partly function.Motor body in the present embodiment can be stepper motor
Ontology, can also be servo motor ontology, specifically can according to demand with application scenarios flexible choice.In order to make it easy to understand, this implementation
Example is illustrated using stepper motor ontology as example below.
In the present embodiment, drive control apparatus and stepper motor ontology being connected to form one motor, relatively existing drive
For dynamic device and the separately positioned automation equipment of motor body, equipment volume can be reduced, it is made to better meet various answer
Use scene；And it is substantially shorter the line between drive control apparatus and stepper motor ontology, so that its anti-interference ability is promoted,
Line consumptive material and the cost of labor between component are reduced simultaneously.
Referring to Figure 1-integrated electric motor shown in Fig. 7, wherein Fig. 1-Fig. 2 show integration exemplified by the present embodiment
The stereoscopic schematic diagram of two different angles of motor, Fig. 3-Fig. 5 are the perspective view of the explosion of the integrated electric motor different angle, Fig. 6 institute
It is shown as the floor map of housing end face, Fig. 7 is the structural schematic diagram on the inside of housing.The integrated electric motor includes that drive control is set
Standby 1 and stepper motor ontology 2.Drive control apparatus 1 and stepper motor ontology 2 connect and compose integrated electric motor.It should be understood that
It is that specific physical connection structure between the two can flexibly be set, such as can be connected through but not limited to screw, buckle company
It connects or the modes such as the two combines realizes connection.
In the present embodiment, drive control apparatus 1 includes housing 13, behind the housing end face of housing 13 and stepper motor ontology
Hold end face 20 opposite, the housing side of housing 13 is parallel with the shaft of stepper motor ontology 2.Drive control apparatus 2 includes setting
In being provided with drive control circuit (not shown) and and drive control circuit on the circuit board 12 in housing 13, circuit board 12
The I/O wiring units being connected, the wiring direction and housing side of the I/O connecting terminal 121 of I/O wiring units form certain angle
It spends and is revealed in outside housing from housing side, in order to the I/O connection plug insertion for the connection that matches with I/O connecting terminal.
The I/O connection plug of connection of matching in this way with I/O connecting terminal can be inserted into from housing side surface direction, save motor body axis
To installation space, enable integrated electric motor preferably to adapt to limited installation space.It should be understood that in the present embodiment
Certain angle can with flexible setting, such as the I/O connecting terminal wiring direction and housing side formed angle can be big
In being equal to 0 °, it is less than or equal to 90 °, such as can flexibly be set as 10 °, 20 °, 30 °, 45 °, 60 °, 80 °, 90 ° etc..Show in one kind
In example, the angle that the wiring direction of the I/O connecting terminal and housing side are formed is 90 ° or close or be slightly larger than 90 °.
In a kind of example of the present embodiment, the side of housing may be provided with closed first terminal accommodate groove, and I/O connects
Line terminals are located in first terminal accommodate groove, and the wiring direction of I/O connecting terminal passes through the first terminal accommodate groove from cover
Expose the side of shell；Optionally, I/O connecting terminal can be resisted against first terminal close to the side (namely bottom) of motor body and hold
Receive the bottom of through slot, can not also be contacted with the bottom of first terminal accommodate groove and in vacant state.It drives in this example
Control equipment may not include bracket.
In another example of the present embodiment, drive control apparatus, which may also include, is set to circuit board and stepper motor sheet
Bracket between body rear end face, the side of housing are provided with the Second terminal accommodate groove communicated with bracket, I/O connecting terminal
In Second terminal accommodate groove, I/O connecting terminal can be resisted against on bracket close to the side (namely bottom) of motor body,
Exposed by Second terminal accommodate groove from the side of housing in the wiring direction of I/O connecting terminal.Certainly, in application scenes
In, the bottom that may also set up I/O connecting terminal does not contact with bracket and is in vacant state.
In the present embodiment, in order to meet the flexible installation requirement of user, and the reliability and wiring effect of wiring are promoted
Rate, the wiring on screw pressure line type plug namely I/O connection plug can be used using twisting spiral shell in I/O connection plug in the present embodiment
The mode of silk carries out crimping, and wiring is simple and reliable.
In the application scenes of the present embodiment, I/O connection plug can also be used but be not limited to cold pressing formula connection plug,
Any one in spring press formula connection plug, contact pin type connection plug, the plug for providing available for different connection modes can be for not
Same user flexibility selection, promotes compatibility.
In the present embodiment, I/O connecting terminal may include but be not limited to the power supply terminal and ground terminal of power supply source input,
The power supply terminal inputted by power supply source is connect with power supply is embodied as drive control apparatus power supply.
Optionally, the I/O connecting terminal in the present embodiment may also include but be not limited to at least one of lower terminal mouth:
Control terminal for input control signal, the setting terminal for inputting setting signal.
For example, in a kind of application scenarios, it is contemplated that power supply source input power supply terminal, ground terminal and for input control
The control terminal of signal processed, for input setting signal setting terminal be all more commonly used a few class class terminals, actuator device 1
It may include this few class terminal.Therefore, in the present embodiment I/O connecting terminal other than power supply terminal and ground terminal, also according to
Demand setting includes but is not limited at least one of following several functions:
Pulse input, enabled input, direction input, warning output.
Correspondingly, in order to realize the above functions, at least two I/O connecting terminals are provided in the present embodiment on circuit board,
And one end that this settable at least two connecting terminal is connect with I/O connection plug is exposed from the same housing side, in order to
I/O wiring.For example, there are two I/O connecting terminals for setting on circuit board in a kind of example, power input, ground connection are realized respectively,
Pulse input and direction input etc. can optionally be realized by the communication bus terminal being arranged on circuit board.Another example
In, there are four I/O connecting terminals for setting on circuit board, realize power input, ground connection, pulse input, direction input respectively；Example again
As in another example, on circuit board setting there are six I/O connecting terminal, this six I/O connecting terminals can realize power input,
Ground connection, pulse input, enabled input, direction input, any several functions in warning output.In another example in a kind of example, electricity
Eight I/O connecting terminals are provided on the plate of road, this eight I/O connecting terminals can realize power input, ground connection, pulse input, make
It can input, direction inputs, any several functions in warning output.Or 10 I/O connecting terminals are provided on circuit board, this 10
A I/O connecting terminal can realize that power input, ground connection, pulse input, enabled input, direction input, are in warning output any
Several functions.In addition, in the present embodiment, I/O connecting terminal can use single layout, double cloth can also be used according to demand
Office.
In order to make it easy to understand, being still illustrated below using Fig. 1-integrated electric motor shown in Fig. 7 as example.In this example
In, 10 I/O connecting terminals (i.e. 10 I/O connecting terminals) 121 are provided on the circuit board 12 of drive control apparatus 2,
In spacing between each I/O connecting terminal be 3.5mm, certain spacing rule can be with flexible choice.In this example, 10 I/
One end that O connecting terminal 121 is connect with I/O connection plug is exposed from the same housing side, in order to I/O wiring.
In addition, in the present embodiment, in order to further adequately utilize installation space, wiring when more conducively installing and can
By property, also exposed target component can be needed at least one being arranged on circuit board in the present embodiment, it is disconnected in housing
At least one through slot is arranged in face, so that target component is exposed to outside housing, for operation or wiring etc..It in this way can be simultaneously
The installation space of integrated electric motor axial direction and the installation space of side are used, so that installation space is adequately utilized, simultaneously
Promote the flexibility of component setting on circuit board.
For example, target component may include but be not limited to communication bus terminal and dial in a kind of example of the present embodiment
At least one of code switch.Communication bus terminal in the present embodiment can be with flexible choice, such as may include but be not limited to
At least one of RS485 communication terminal, RS232 communication terminal, CAN communication terminal, Ethercat communication terminal.The present embodiment
In toggle switch type and its function of realizing can also flexible setting, may be, for example, rotary dip switch, flat dial-up of dialling is opened
Close etc..
For example, target component includes communication bus terminal and toggle switch, communication bus end in a kind of application scenarios
Son and toggle switch are respectively arranged at opposite sides or adjacent two sides on circuit board, and through slot includes the phase on housing end face
To two sides or adjacent two sides and respectively the first through slot corresponding with communication bus terminal and toggle switch and the second through slot；
One end that communication bus terminal is connect with communication bus plug is exposed outside by the first through slot, and toggle switch passes through the second through slot
It is exposed outside.It is still illustrated below using Fig. 1-integrated electric motor shown in Fig. 7 as example.In this example, in drive control
The RS485 communication terminal 122 and toggle switch 123 as communication bus terminal are provided on the circuit board 12 of equipment 2, in housing
The first through slot 136 and the second through slot 135 are set on 13 end face, RS485 communication terminal 122 is connect with communication bus plug
One end is exposed outside by the first through slot 136, and toggle switch 123 is exposed outside housing by the second through slot, for dial-up operation.
In this example there are two the tools of RS485 communication terminal 122, one is used as input, and one is used as output, and optional RS485 leads to
Letter terminal 122 is 3pin pin terminal.In this example toggle switch 123 be 4pin or more (for example including but be not limited to 4pin,
6pin or 8pin) it is flat push pass aside, the functions such as state setting can be achieved by the flat pass of pushing aside 4pin or more.It should be understood that
The specific structure and function of RS485 communication terminal and toggle switch 123 can flexible settings in this example, however it is not limited to as shown in the figure
Specific structure.Toggle switch 123 and RS485 the communication terminal two sides that be respectively arranged at housing end face opposite, can make for user
Convenience is provided with configuration driven device, and helps to reduce axial requirements of installation space.
In the present embodiment, settable in order to further decrease axial requirements of installation space and be easily installed and wiring
At least one of first through slot and the second through slot housing side adjacent thereto communicate, it is made to form groove with respect to housing side
Structure communicates to form groove referring to the first through slot 136 in Fig. 1-Fig. 7 and the second through slot 135 housing side adjacent thereto.When
So, in the present embodiment, housing side that can not also be adjacent thereto in the first through slot and the second through slot communicates, only need to be at housing end
Face forms corresponding opening.
In some examples in the present embodiment, at least partly I/O connecting terminal can also expose from the housing end face of housing,
To meet the flexible demands of various installation scenarios.Such as in application scenes, the housing end face of housing is settable to be connect for I/O
Line terminals it is naked go out through-hole or through slot, the through-hole or through slot of each I/O connecting terminal from the housing end face that are arranged on circuit board be naked
Out, in order to the I/O connection plug insertion for the connection that matches with I/O connecting terminal.
Embodiment two:
As it appears from the above, the specific connection type in the present embodiment between drive control apparatus and stepper motor ontology can adopt
With but be not limited to the structures such as screw or buckle.It is said in order to make it easy to understand, carrying out example below the present embodiment with screw connecting structure
It is bright.
In the present embodiment, drive control apparatus includes at least housing, circuit board；Circuit board, housing are from bottom to up successively
It is fixed on stepper motor ontology rear end.It is provided in stepper motor ontology rear end face for being connect with drive control apparatus
Attachment screw hole is respectively arranged with position screwing through hole corresponding with attachment screw hole on housing, circuit board, and attachment screw is successively
Screwing through hole on housing, circuit board simultaneously screws in stepper motor ontology rear end face in corresponding attachment screw hole, from
And housing, circuit board and stepper motor ontology are connected as an entirety；
In the present embodiment, the attachment screw hole in stepper motor ontology rear end face is two or three, and at least two
A pairs of linea angulata setting in attachment screw hole；This connection type had not only saved the circuit board space of integrated electric motor, but also made one
Body electric machine structure is compact, installation is simple, easy to disassemble.
For example, in a kind of example of the present embodiment, in the attachment screw hole that is arranged in stepper motor ontology rear end face,
Including at least one through the stepper motor ontology front-end and back-end the first screw hole, attachment screw include screw in this first
The first screw (can be referred to as long spiro nail in the present embodiment) of screw hole, the first screw run through the front end of the stepper motor ontology
The rear end and.Such as two (certainly can also be three) first are set in stepper motor ontology rear end face under a kind of application scenarios
Screw hole, and the pairs of linea angulata setting in stepper motor ontology rear end face of two the first screw holes, such as two the second screws
The opposite side of stepper motor ontology backend center axis is arranged in hole, to guarantee that drive control apparatus is steady on stepper motor ontology
Fixed fixation.And at least one of the two first screw holes can directly be multiplexed the use being arranged originally on stepper motor ontology
In the screw hole of stepper motor ontology itself connection, it might even be possible to all multiplexings, to further save shared by cost and screw
Space.
In another example in another example of the present embodiment, the attachment screw hole that is arranged in stepper motor ontology rear end face
In, do not run through the second screw hole of the front-end and back-end of the stepper motor ontology including at least one, attachment screw includes screwing in
Second screw of second screw hole.Such as under a kind of application scenarios in stepper motor ontology rear end face be arranged two (when
So can also be three) the second screw hole (short screw can be referred to as in the present embodiment), and two the second screw holes are in stepper motor
The phase of stepper motor ontology backend center axis is arranged in pairs of linea angulata setting in ontology rear end face, such as two the second screw holes
Opposite side, to guarantee drive control apparatus fixation stable on stepper motor ontology.
In another example in another example of the present embodiment, the attachment screw hole that is arranged in stepper motor ontology rear end face
In, do not run through the second screw hole of the front-end and back-end of the stepper motor ontology including at least one, further includes that at least one is passed through
The first screw hole of the front-end and back-end of the stepper motor ontology is worn, namely in such a way that the first screw and the second screw combine
Realize the connection of drive control apparatus and stepper motor ontology.
For example, being provided with first screw hole and two second in stepper motor ontology rear end face in a kind of example
The opposite side of stepper motor ontology backend center axis is arranged in screw hole, the first screw hole and at least one second screw.It is another
In example, setting is there are two the first screw hole and second screw hole in stepper motor ontology rear end face, at least one the
The opposite side of stepper motor ontology backend center axis is arranged in one screw hole and the second screw.
It should be understood that the position that above-mentioned each attachment screw hole is arranged in motor body rear end face in the present embodiment
It can flexibly determine.For example, attachment screw hole is located in stepper motor ontology rear end face close to two sides phase in a kind of example
The region of friendship, namely be set to close to the corner regions of two sides intersection in motor body rear end face, to be conducive to circuit board
Intermediate region is fully utilized, convenient for being routed the setting with component.
In a kind of example of the present embodiment, at least one is also provided in stepper motor ontology rear end face for real
The third screw hole of itself existing connection, third screw hole runs through the front-end and back-end of the stepper motor ontology, for third screw
The front end of the stepper motor ontology is screwed in and run through directly from stepper motor ontology rear end face.For example, in a kind of example, step
It is settable on into motor body rear end face that there are two third screw holes.
Optionally, the drive control apparatus in the present embodiment further includes being set to circuit board and stepper motor ontology rear end end
Bracket between face, and may be provided with screwing through hole corresponding with attachment screw hole on the bracket, attachment screw sequentially passes through cover
Screwing through hole on shell, circuit board and bracket simultaneously screws in stepper motor ontology rear end face in corresponding attachment screw hole, will
Housing, circuit board and bracket and the stepper motor ontology are connected as an entirety.
In order to make it easy to understand, carrying out further exemplary illustration to the present embodiment with reference to the accompanying drawing.Referring to Fig. 1 to Fig. 9
It is shown, the attachment screw hole for connecting with drive control apparatus is provided in stepper motor ontology rear end face 20, correspondingly,
It is corresponding with attachment screw hole in stepper motor ontology rear end face that position is respectively arranged on housing 13, circuit board 12 and bracket 11
Screwing through hole, attachment screw sequentially passes through housing 13, circuit board 12 and screwing through hole on bracket 11 and screws in stepper motor
In ontology rear end face in corresponding attachment screw hole, thus by housing 13, circuit board 12 and bracket 11 and stepper motor ontology 2
It is connected as an entirety.
In this example, in the two screw holes being arranged in stepper motor ontology rear end face, wherein the first screw
The front-end and back-end of the stepper motor ontology are run through in hole 242, and screw in the first screw of first screw hole 242 through the stepping
Such screw is hereafter known as long spiro nail 131 by the front-end and back-end of motor body；Certain long spiro nail 131 in some instances
It can be not through the front end of the stepper motor ontology；Second screw hole 241 does not run through the front-end and back-end of the stepper motor ontology, rotation
The screw for entering second screw hole 241 does not run through the front-end and back-end of the stepper motor ontology, hereafter that such screw is referred to as short
Screw 132.
In the present embodiment, long spiro nail 131 sequentially passes through the screwing through hole on housing 13, circuit board 12 and bracket 11, screws in
In 2 rear end face of stepper motor ontology in corresponding first screw hole 242, and through the front end of the stepper motor ontology 2 with after
End, short screw 132 sequentially pass through the screwing through hole on housing 13, circuit board 12 and bracket 11, screw in 2 rear end of stepper motor ontology
On end face in corresponding second screw hole 241, do not run through the front-end and back-end of the stepper motor ontology 2, screw in this way
Housing 13, circuit board 12 and bracket 11 and stepper motor ontology 2 are connected as an entirety, at this moment, circuit board 12 by connection type
On magnetic coder 125 magnetic formed by the magnetic sheet 24 in first through hole 110 and the second through-hole 22 cooperate.
Using one is long and the other is short, stepper motor ontology 2 and drive control apparatus 1 are fixed two screws in the present embodiment
Connection, it is corresponding, it only needs to be arranged there are two screw through-hole, such connection type on circuit boards, had both saved integrated electricity
The circuit board space of machine, but make integrated electric motor it is compact-sized, installation it is simple, easy to disassemble.
However, it is to be understood that being not limited in the present embodiment real using a long spiro nail and a short screw cooperation
The connection of existing drive control apparatus and stepper motor ontology.For example, two root long spiral shells can be used in a kind of example of the present embodiment
Nail is correspondingly arranged two the first screws for running through stepper motor ontology front-end and back-end in stepper motor ontology rear end face 20
Hole 242, and the two first screw holes 242 are arranged in diagonal line, can be directly multiplexed on stepper motor ontology at this time originally just
The screw hole of setting can also newly start screw hole, specifically can flexible setting；All right one way or the other long spiro nail sequentially passes through housing, circuit board
With the connection for realizing drive control apparatus and stepper motor ontology in the screwing through hole on bracket and the first screw hole 242 of screw-in.
In another example in another example of the present embodiment, using two root long screws and a short screw by stepper motor
Ontology 2 and drive control apparatus 1 are fixedly connected.The screw hole being arranged in 2 rear end face of stepper motor ontology includes 2 and passes through
It wears the attachment screw hole of the front-end and back-end of the stepper motor ontology 2 and 1 does not run through the front end of the stepper motor ontology 2 with after
The attachment screw hole at end.This mode only needs to be arranged on circuit boards three screw through-holes to be realized compared with prior art
Save the effect of integrated electric motor circuit board space.
In another example stepper motor ontology 2 and driving are controlled using three root long screws in another example of the present embodiment
Control equipment 1 is fixedly connected.The connecting screw hole being arranged in 2 rear end face of stepper motor ontology is 3 through stepping electricity
The screw hole of the front-end and back-end of machine ontology 2.This mode only needs to be arranged on circuit boards three screw through-holes, with existing skill
Art is compared, and the effect for saving integrated electric motor circuit board space is realized.
Certainly, in some instances, two can also be directlyed adopt or three short screws control stepper motor ontology 2 and driving
Control equipment 1 is fixedly connected, or is controlled stepper motor ontology 2 and driving using two short screws and a long spiro nail cooperation
Control equipment 1 is fixedly connected, and details are not described herein.
Certainly, in some examples of this implementation, card slot can be also set on stepper motor ontology 2 and in bracket 11 or
The corresponding buckle of setting on housing 13 realizes drive control apparatus 1 and stepper motor ontology 2 by the buckle and card slot cooperation
Connection；Either buckle is being set on stepper motor ontology 2 and corresponding card slot is set on bracket 11 or housing 13, is being passed through
The connection of drive control apparatus 1 and stepper motor ontology 2 is realized in the buckle and card slot cooperation.
Embodiment three:
In the present embodiment, in the drive control apparatus of integrated electric motor can integrally disposed encoder, and the encoder can
For magnetic coder or photoelectric encoder etc..In order to make it easy to understand, being illustrated in the present embodiment with magnetic coder.
In drive control apparatus, the magnetic coder of setting, which needs to form magnetic with the magnetic sheet being arranged on stepper motor ontology, matches
It closes in order to which magnetic coder carries out information collection.Therefore drive control apparatus and stepper motor ontology being connected to form one motor
When, just seem especially heavy for the accurate positionin of the magnetic coder in drive control apparatus and the magnetic sheet on stepper motor ontology
It wants, cooperates if the magnetic sheet after the two connection on magnetic coder and stepper motor ontology cannot form effective magnetic, just will affect
The acquisition of magnetic coder information, to influence the accurate and effective control to stepper motor ontology.
In view of the above-mentioned problems, present embodiments providing a kind of magnetic coder and stepper motor guaranteed in drive control apparatus
The integrated electric motor structure of the accurate positionin of magnetic sheet on ontology.Drive control apparatus includes housing, circuit board, bracket, wherein
Bracket, circuit board, housing are in turn secured to from bottom to up on stepper motor ontology rear end, wherein bracket and stepper motor ontology
Rear end face contact, circuit-board card is in housing；The circuit board one side opposite with bracket is back of circuit board, back of circuit board
On be additionally provided with magnetic coder, region corresponding with magnetic coder is provided with for magnetic coder acquisition information on bracket
One through-hole.Second through-hole opposite with concentric locating lug boss position, the second through-hole are provided in stepper motor ontology rear end face
The magnetic sheet for being inside provided with electric motor back shaft and being fixed on the electric motor back shaft, integrated electric motor further include being set to bracket and stepping
Between motor body rear end, with first through hole and the second through-hole concentric and interior sky concentric locating boss；Secure the stand to step
When into motor body rear end, first through hole is directed at connection by the realization of concentric locating boss with the second through-hole, with first through hole phase
Magnetic sheet in the corresponding magnetic coder in position and the second through-hole on electric motor back shaft forms magnetic cooperation.
In the present embodiment, concentric locating boss can be fixed on bracket, can also be fixed at stepper motor
In ontology rear end face.In order to make it easy to understand, being illustrated separately below with four kinds of setting examples.
Example one: bracket is cradle back close to the one side of stepper motor ontology, and concentric locating boss is in cradle back
It is arranged around first through hole；Second through-hole is adapted close to the opening inside diameter of cradle back with the outer diameter of concentric locating boss；It will
When bracket is fixed on stepper motor ontology rear end, concentric locating boss is embedded in the second through-hole, realizes first through hole and the second through-hole
Logical alignment connection；Since concentric locating boss is arranged concentrically with the first through hole for penetrating acquisition information for magnetic coder, and its
Easy to process, machining accuracy is high.The second through-hole being arranged in stepper motor ontology rear end face simultaneously is also easy to process and add
Work precision also can preferably be guaranteed, therefore be can guarantee by concentric locating boss and the contraposition cooperation of the second through-hole and penetrated first
The magnetic sheet accurate contraposition in magnetic coder and the second through-hole in through-hole forms effective magnetic cooperation, to guarantee that magnetic coder is believed
The accurate acquisition of breath.Optionally, in this example, also the ring side on the inside of the second through-hole can be provided with ring-shaped step, so that
As protection step surface when concentric locating boss is embedded in the second through-hole, avoid damaging in too deep the second through-hole of insertion, into
One step promotes the reliability for turning to match.
Example two:
Concentric locating boss is arranged in cradle back around first through hole；Around the in stepper motor ontology rear end face
Two through-holes are provided with diameter the second concentric locating groove compatible with the diameter of concentric locating boss；Secure the stand to stepping
When motor body rear end, concentric locating boss is embedded in the second concentric locating groove, realizes first through hole and pair that the second through-hole leads to
Quasi- connection, to guarantee to penetrate the magnetic coder in first through hole and form effective magnetic with the magnetic sheet accurate contraposition in the second through-hole to match
It closes.
Example three: concentric locating boss is arranged in stepper motor ontology rear end face around the second through-hole；First through hole
Opening inside diameter close to stepper motor ontology rear end face is adapted with the outer diameter of concentric locating boss；Secure the stand to stepping
When motor body rear end, concentric locating boss is embedded in first through hole, realizes that first through hole is connect with the alignment that the second through-hole leads to.It can
Choosing, in this example, the ring side on the inside of first through hole can also be provided with ring-shaped step, so that concentric locating boss is embedded in
As protection step surface when first through hole.
Example four:
Concentric locating boss is arranged in stepper motor ontology rear end face around the second through-hole；Around the in cradle back
One through-hole is provided with diameter the first concentric locating groove compatible with the diameter of concentric locating boss；Secure the stand to stepping
When motor body rear end, when concentric locating boss is embedded in the first concentric locating groove, realize what first through hole and the second through-hole were led to
Alignment connection.
Certainly, in the present embodiment, concentric locating boss, which can be also neither fixed on, is arranged on bracket, is also not fixed setting
In stepper motor ontology rear end face, can be used as a flexible locating piece, the outer diameter at both ends respectively with first through hole and
The internal diameter of second through-hole is adapted, its both ends, which is respectively embedded into first through hole and the second through-hole, when assembly realizes first through hole and the
The logical alignment connection of two through-holes.Optionally, in this example, ring side that can also respectively on the inside of first through hole and the second through-hole
It is provided with ring-shaped step, so that as protection step surface when concentric locating boss insertion first through hole and the second through-hole.
In the present embodiment, magnetic sheet is rotated with the rotation of electric motor back shaft on electric motor back shaft, and magnetic sheet is on electric motor back shaft
Fixed form can be with flexible setting.In order to make it easy to understand, being illustrated below with reference to a kind of fixed example.In this example,
Fixing sleeve is provided on electric motor back shaft, one end of fixing sleeve is socketed in electric motor back shaft on one end of bracket, so that fixing sleeve
It is rotated with the rotation of electric motor back shaft, internal diameter and the magnetic sheet outer diameter of the other end of fixing sleeve match, and magnetic sheet is fastened on fixation
In set, so that magnetic sheet rotates together with fixing sleeve with the rotation of electric motor back shaft.
In another example of the present embodiment, electric motor back shaft is equipped with internal diameter and magnetic sheet outer diameter phase close to one end of bracket
The fixation hole matched, magnetic sheet are fastened in fixation hole, so that magnetic sheet turns together with fixing sleeve with the rotation of electric motor back shaft
It is dynamic.
In order to make it easy to understand, still being illustrated below the present embodiment with Fig. 1-integrated electric motor structure shown in Fig. 7.
It refers to shown in Fig. 3-Fig. 5, is provided with magnetic coder 125 on the back side of the circuit board 12 of drive control apparatus,
It is provided with the first through hole 110 opposite with 125 position of magnetic coder on bracket 11, first through hole 110 is surrounded in cradle back
It is provided with concentric locating boss 115, the rear end of stepper motor ontology 2 is provided with the second through-hole 22, the electricity of stepper motor ontology 2
Machine rear axle 21 is set in the second through-hole 22, and the ring side of 22 inside of the second through-hole is provided with ring-shaped step 221.Stepper motor
Ontology further includes fixing sleeve 23, and the material of fixing sleeve 23 can flexibly set, such as copper fixing sleeve can be used etc., and the one of fixing sleeve 23
End is socketed on electric motor back shaft 21, and internal diameter and 24 outer diameter of magnetic sheet of the other end match, and magnetic sheet 24 is round magnetic sheet, is fastened on solid
Surely in set 23.Certainly, magnetic sheet 24 is not limited to round magnetic sheet, and concrete shape can flexibly change, as long as it can be with motor
The rotation of rear axle 21 forms effective magnetic with magnetic coder 125 and cooperates, so that magnetic coder carries out accurate information collection.?
When installation, concentric locating boss 115 is embedded in the second through-hole 22, and ring-shaped step 221 plays a protective role, with 110 phase of first through hole
The corresponding magnetic coder 125 in position forms magnetic cooperation with the magnetic sheet 24 on electric motor back shaft 21.
In the present embodiment, in order to further realize accurate positioning, guarantee assembly precision.It optionally, can be in stepping electricity
At least one first auxiliary positioning hole is provided in machine ontology rear end face, and the first auxiliary positioning hole can be set second
It is fixed to be additionally provided with position the first auxiliary corresponding with the first auxiliary positioning hole in cradle back for any position around through-hole 22
Position column, when securing the stand to stepper motor ontology rear end, the first auxiliary positioning column is embedded in the first auxiliary positioning hole.In this way logical
It crosses concentric locating boss and the contraposition cooperation of the second through-hole guarantees the magnetic penetrated in the magnetic coder in first through hole and the second through-hole
While piece accurate contraposition forms the cooperation of effective magnetic, it can also pass through the cooperation in the first auxiliary positioning hole and the first auxiliary positioning column
Assembly precision between the two is further promoted, avoids turning with during because phase occurs between bracket and stepper motor ontology
Rotation is caused to assemble inaccurate.
For example, the first auxiliary positioning hole being arranged in stepper motor ontology rear end face can be one in a kind of example.
In another example, the first auxiliary positioning hole being arranged in stepper motor ontology rear end face may include at least two, and extremely
Few two the first auxiliary positioning holes are located at the two sides of the second through-hole；The number and the first auxiliary positioning of first auxiliary positioning column
The number in hole is equal, and the first auxiliary positioning column cooperates one by one with the number in first hole and position.
Optionally, in the present embodiment, one side of the setting bracket far from stepper motor ontology is bracket front, bracket front
On be provided with the second auxiliary positioning column, position the second auxiliary positioning corresponding with the second auxiliary positioning column is provided on circuit board
Hole, during installation, the second auxiliary positioning column are embedded in the second auxiliary positioning hole and are used for fixing circuit board.Second auxiliary positioning column and
The cooperation in two auxiliary positioning holes had both realized the fixation of circuit board, while can also be achieved the positioning of circuit board, so that on circuit board
Magnetic coder and first through hole accurate fit.In order to promote positioning accuracy, settable first auxiliary positioning column and the second auxiliary
The position of positioning column is corresponding.
In order to make it easy to understand, still being illustrated below the present embodiment with Fig. 1-integrated electric motor structure shown in Fig. 7.
There are two the first auxiliary positioning holes 25 for setting in stepper motor ontology rear end face 20, the two first auxiliary positioning holes 25 exist
It is arranged in stepper motor ontology rear end face 20 in diagonal line.In the bracket back of bracket 11 and two the first auxiliary positioning holes 25
The opposite position setting in position is there are two the first auxiliary positioning column 111, and there are two with for setting in the cradle back of bracket 11
The second opposite auxiliary positioning column 112 of one auxiliary positioning hole, 25 position, the first auxiliary positioning column 111 and the second auxiliary positioning column
112 coaxial arrangements, are provided with the position second auxiliary positioning hole 127 opposite with the second auxiliary positioning column 112 on the circuit board 12.
During installation, the second auxiliary positioning column 112 passes through the second auxiliary positioning hole 127 on circuit board 12, and concentric locating boss 115 is embedding
Enter the second through-hole 22, magnetic coder 125 corresponding with 110 phase position of first through hole and the formation of magnetic sheet 24 on electric motor back shaft 21
Magnetic cooperation.First auxiliary positioning column 111 is embedded in corresponding first auxiliary positioning column 111 in stepper motor ontology rear end face 20
It is interior, bracket 11 and circuit board 12 are accurately positioned together with concentric locating boss 115.To guarantee on circuit board 12
Magnetic sheet 24 on magnetic coder 125 and stepper motor ontology 2 forms accurately contraposition and cooperates, and then guarantees that magnetic coder 125 is believed
The accurate acquisition of breath.
Example IV:
The present embodiment on that basi of the above embodiments, to be formed to guarantee that drive control apparatus is connect with stepper motor ontology
When integrated electric motor, guarantee that the magnetic coder in drive control apparatus is formed with the magnetic sheet exactitude position on stepper motor ontology
The magnetic of effect cooperates.It present embodiments provides on another magnetic coder and stepper motor ontology guaranteed in drive control apparatus
The integrated electric motor structure of the accurate positionin of magnetic sheet.
In the present embodiment, the circuit board one side opposite with stepper motor ontology rear end face is back of circuit board, circuit
The magnetic coder connecting with drive control circuit is provided in back；
It is provided with the second through-hole in stepper motor ontology rear end face, electric motor back shaft and fixation are provided in the second through-hole
Magnetic sheet on the electric motor back shaft；Positioning column is additionally provided in stepper motor ontology rear end face；
It is provided with opposite with positioning column position on circuit board, and the second positioning that its internal diameter and positioning column outer diameter match is logical
Hole, when installation, positioning column passes through the second positioning through hole on circuit board, the magnetic in magnetic coder and the second through-hole on circuit board
Piece forms magnetic cooperation；To guarantee the accurate acquisition of magnetic coder information.
In a kind of example of the present embodiment, it is convex that first circuit board carrying can be directly provided at least one positioning column
It rises, after which passes through the second positioning through hole on circuit board, circuit board is resisted against in first circuit board carrying protrusion, namely
First circuit board carrying is convex to form limit and support to the circuit board, so that circuit board is stably fixed to stepper motor sheet
Between body rear end and housing.
In another example of the present embodiment, at least one second circuit board is provided in stepper motor ontology rear end face
Carrying protrusion, after positioning column passes through the second positioning through hole on circuit board, circuit board is resisted against in second circuit board carrying protrusion,
Namely convex formed to the circuit board of first circuit board carrying limits and supports, so that circuit board is stably fixed to stepping electricity
Between machine ontology rear end and housing.
It should be understood that first circuit board can be arranged at least one positioning column simultaneously in application scenes
Carrying protrusion, and at least one second circuit board carrying protrusion is set in stepper motor ontology rear end face, pass through the first electricity
Road plate carrying protrusion and second circuit board carrying protrusion realize limit and support to circuit board simultaneously.
Optionally, in order to promote the reliability and stability to board support, can be arranged on each positioning column
There is first circuit board carrying protrusion, and first circuit board carrying protrusion can use same material with positioning column, and can be integrated
Molding.Different materials can also be used.
Optionally, in some instances, can be used be provided in stepper motor ontology rear end face at least one second
The mode of circuit board bearing protrusion is limited and is supported to circuit board, and second circuit board carrying protrusion can be located at stepper motor sheet
Intermediate region in body rear end face is arranged around the second through-hole；Certain second circuit board carrying protrusion can also be after motor body
It holds and is arranged on end face around edge, and its number can be with flexible setting.Such as on being located at stepper motor ontology rear end face
When intermediate region is arranged around the second through-hole, settable one is relatively large in diameter the second electricity for being enough to stablize and forming support to circuit board
Road plate carrying protrusion.And the second circuit board carrying protrusion in the present embodiment can be integrally formed with stepper motor ontology rear end,
Separable setting, can be used metal material, the other materials that other intensity are sufficient for its support strength requirement can also be used.
In another example of the present embodiment, drive control apparatus, which may also include, is set to circuit board and stepper motor ontology
Bracket between rear end face.Region corresponding with magnetic coder is provided with for magnetic coder acquisition information on bracket
One through-hole；Position the second through-hole corresponding with first through hole is provided in stepper motor ontology rear end face, in the second through-hole
Be provided with electric motor back shaft and the magnetic sheet that is fixed on the electric motor back shaft (specific fixed form can be used but be not limited to above-mentioned implementation
Mode exemplified by example)；First positioning through hole opposite with positioning column position, the internal diameter of the first positioning through hole are provided on bracket
It can match with the outer diameter of positioning column, also may be slightly larger than the outer diameter of positioning column；Be provided on circuit board it is opposite with positioning column position,
And the second positioning through hole that its internal diameter and positioning column outer diameter match, when installation, positioning column is sequentially passed through on bracket first fixed
The second positioning through hole on position through-hole and circuit board, the magnetic coder on circuit board pass through the magnetic in first through hole and the second through-hole
Piece forms magnetic cooperation, to guarantee the accurate acquisition of magnetic coder information.
Optionally, in order to further realize accurate positioning, guarantee assembly precision.It in the present embodiment, can also be in stepping
At least one first auxiliary positioning hole is provided in motor body rear end face, and the first auxiliary positioning hole can be set
Any position around two through-holes 22 is additionally provided with position the first auxiliary corresponding with the first auxiliary positioning hole in cradle back
Positioning column, when securing the stand to stepper motor ontology rear end, the first auxiliary positioning column is embedded in the first auxiliary positioning hole.Exist in this way
Guarantee to penetrate in the magnetic coder in first through hole and the second through-hole by concentric locating boss and the contraposition cooperation of the second through-hole
It, can also matching by the first auxiliary positioning hole and the first auxiliary positioning column while magnetic sheet accurate contraposition forms the cooperation of effective magnetic
Conjunction further promotes assembly precision between the two, avoids turning with during because occurring between bracket and stepper motor ontology
Relative rotation and cause to assemble inaccurate.
For example, the first auxiliary positioning hole being arranged in stepper motor ontology rear end face can be one in a kind of example.
In another example, the first auxiliary positioning hole being arranged in stepper motor ontology rear end face may include at least two, and extremely
Few two the first auxiliary positioning holes are located at the two sides of the second through-hole；The number and the first auxiliary positioning of first auxiliary positioning column
The number in hole is equal, and the first auxiliary positioning column cooperates one by one with the number in first hole and position.
Optionally, in the present embodiment, one side of the setting bracket far from stepper motor ontology is bracket front, bracket front
On be provided with the second auxiliary positioning column, position the second auxiliary positioning corresponding with the second auxiliary positioning column is provided on circuit board
Hole, during installation, the second auxiliary positioning column are embedded in the second auxiliary positioning hole and are used for fixing circuit board.Second auxiliary positioning column and
The cooperation in two auxiliary positioning holes had both realized the fixation of circuit board, while can also be achieved the positioning of circuit board, so that on circuit board
Magnetic coder and first through hole accurate fit.In order to promote positioning accuracy, settable first auxiliary positioning column and the second auxiliary
The position of positioning column is corresponding.
It should be understood that the generation type of positioning column can be flexible in stepper motor ontology rear end face in the present embodiment
Selection.Such as positioning column can be with this body by integral forming of stepper motor.In another example of the present embodiment, pin is can be used in positioning column
Nail is provided in stepper motor ontology rear end face and is embedded in for pin to realize the fixed pin hole of pin, and when installation, pin is worn
The second positioning through hole or pin on oversampling circuit plate, which sequentially pass through the first positioning through hole on bracket and second on circuit board, to be determined
Position through-hole, the magnetic sheet in magnetic coder and the second through-hole on circuit board form magnetic and cooperate；To guarantee magnetic coder information
Accurate acquisition.
In above-mentioned each example of the present embodiment, the positioning column number being arranged in stepper motor ontology rear end face can spirit
Setting living, and position of each positioning column in stepper motor ontology rear end face can also flexible setting, such as can be in stepper motor
Any position flexible setting in ontology rear end face around the second through-hole.In order to make it easy to understand, column positioned below passes through pin
Mode realize, be illustrated in conjunction with a kind of setting example.In this example, two are provided in stepper motor ontology rear end face
A pin hole, and at least two pin holes are located at the opposite sides of the second through-hole.The number and position one of pin and pin hole are a pair of
It answers.And in the present embodiment, the number of pin and pin hole can be with flexible setting, and the material of pin and shape can also flexibly be set
It is fixed.
For example, in a kind of example of the present embodiment, pin hole there are three settings in stepper motor ontology rear end face, three
The center of circle of pin hole is not point-blank.
In another example in a kind of example of the present embodiment, pin hole there are two settings in stepper motor ontology rear end face, two
A pin hole is arranged in diagonal line.
In another example in a kind of example of the present embodiment, pin hole there are four settings in stepper motor ontology rear end face, four
The line of a pin hole, which encloses, claims a rectangle.
In order to make it easy to understand, being illustrated below the present embodiment with Fig. 8-integrated electric motor structure shown in Fig. 9.
It refers to shown in Fig. 8-Fig. 9, is provided with magnetic coder 125 on the back side of the circuit board 12 of drive control apparatus,
The first through hole 110 opposite with 125 position of magnetic coder is provided on bracket 11, be provided on bracket 11 with pin number and
It is fixed to be provided with corresponding with pin number and position second on the circuit board 12 for corresponding first positioning through hole 116 in position
Position through-hole 128 is provided with the second through-hole 22 in the rear end of stepper motor ontology 2, and the electric motor back shaft 21 of stepper motor ontology 2 is arranged
In in the second through-hole 22.Stepper motor ontology further includes fixing sleeve 23, and the material of fixing sleeve 23 can flexibly be set, such as can be used
Copper fixing sleeve etc., one end of fixing sleeve 23 are socketed on electric motor back shaft 21, and internal diameter and 24 outer diameter of magnetic sheet of the other end match, magnetic
Piece 24 is round magnetic sheet, is fastened in fixing sleeve 23.Certainly, magnetic sheet 24 is not limited to round magnetic sheet, and concrete shape can spirit
It is living to change, as long as it can rotate with electric motor back shaft 21 and form effective magnetic with magnetic coder 125 and cooperate, for magnetic coder into
The accurate information collection of row, is provided with pin hole (not shown) and setting in stepper motor ontology rear end face 20
In the pin 26 in pin hole.During installation, the pin 26 in stepper motor ontology rear end face 20 sequentially passes through right on bracket 11
Corresponding second positioning through hole 128 on the first positioning through hole 116 and circuit board 12 answered is opposite with 110 phase position of first through hole
The magnetic sheet 24 on magnetic coder 125 and electric motor back shaft 21 answered forms accurate magnetic and cooperates, and then guarantees 125 information of magnetic coder
Accurate acquisition.
However, it is to be understood that the structure of positioning column and positioning through hole alignment by union in the present embodiment can be flexible
It is implemented in combination with the accurate positionin to bracket and circuit board with the concentric locating boss in embodiment three, and then reduces magnetic volume as far as possible
The installation deviation of code device promotes the honor accuracy of magnetic coder information collection, and then guarantees collected according to magnetic coder institute
Information realization accurately controls stepper motor ontology.
Embodiment five:
In a kind of example of the present embodiment, it is additionally provided on bracket around line three-way hole, it should be around line three-way hole for stepper motor
The coiling of ontology by be connected with circuit board and/or bracket on close at least one side region be provided with for stepping electricity
The coiling of machine ontology passes through the notch that is connected with circuit board.The length of the coiling of stepper motor ontology and circuit board is connected in this way
Relatively existing driver greatly shortens compared with the separately positioned scheme of motor body, therefore can reduce cost, is promoted anti-dry
Immunity energy.And the position around the shape of line three-way hole in the present embodiment and being specifically arranged can flexibly be set.
For example, integrated electric motor structure shown in Figure 4, is provided with around line three-way hole 117 stepping electricity on bracket 11
Coiling (not shown) on machine ontology 2 can pass through connect corresponding on circuit board 12 around line three-way hole 117 by this
Point is attached.
In the present embodiment, one side of the bracket far from stepper motor ontology is bracket front, and bracket is additionally provided on front
Support rim, back of circuit board, which is resisted against on support rim between bracket front, when installation forms component accommodation space, electricity
Component in the back of road is located in the component accommodation space.And in the present embodiment, the second auxiliary being arranged on bracket
The top of positioning column is higher than the supporting surface (namely side with circuit board contacts) of support rim.Bracket front in the present embodiment
The number of the support rim of upper setting and be specifically configured to can be with flexible setting.Such as it can be arranged at least on bracket front
Two support rims, and at least two support rims are located at two sides opposite on bracket front, to be formed to the effective of circuit board
Support；Or support rim is arranged in opposite sides and the intermediate region on bracket front on bracket front simultaneously；Or
At least one annular brace boss only is set to form the support with circuit board in the intermediate region on bracket front.Such as one
The larger ring made enough to gentle support circuit board of an internal diameter can be set in the intermediate region on bracket front in kind example
Shape support rim or polygon support rim (such as may include but be not limited to cross section be triangle, quadrangle, hexagon it is more
Side shape support rim etc.), it may also set up that more than two internal diameters are relatively small and position distribution is enough gentle support electricity certainly
The annular brace boss or polygon support rim of road plate.
For example, referring to Fig. 3-integrated electric motor structure shown in Fig. 9, it is provided with support rim 113 on bracket 11, pacifies
The back side of circuit board 12 is resisted against the gap on support rim 113 between bracket 11 and forms component accommodation space, electricity when dress
The component being arranged on 12 back side of road plate is located in the component accommodation space.Optionally, in order to reduce drive control as far as possible
The size of equipment, for the larger-size component being arranged on 12 back side of circuit board, when the size of the component is greater than first device
When part accommodation space, through-hole is placed in position setting that can also be opposite with the component on bracket, for accommodating electronics member
Device.Through-hole 114, the 114 cocircuit plate 12 of placement through-hole are placed for example, see being provided with shown in Fig. 3-Fig. 8 on bracket 11
Corresponding electronic component passes through on the back side, to reduce the axial dimension after circuit board 12 and the assembly of bracket 11, promotes driving
Control the integrated level of equipment.
In the present embodiment, it may also set up housing altitude location boss on the inside of housing, circuit board front is supported when installation
It leans against and forms component accommodation space on housing altitude location boss between the medial surface of housing end face, on circuit board front
Component is located in the component accommodation space.Support rim in this way on housing altitude location boss and bracket can be by circuit board
Step up to fix.It the specific number of housing altitude location boss and is set as flexibly setting in the present embodiment, such as one kind is shown
The number of housing altitude location boss and position can be corresponded with the support rim on bracket in example.And in the present embodiment,
For larger-size component on circuit board front, the indent that its size matches can be set on the inside of housing end face
Accommodation space is to accommodate the component.For example, referring to Fig. 3-integrated electric motor structure shown in Fig. 8, set on the inside of housing 13
It is equipped with housing altitude location boss 138, the front of circuit board 12 is resisted against on housing altitude location boss and housing 13 when installation
Between gap form component accommodation space, the component being arranged on 12 front of circuit board is located at the component accommodation space
It is interior.The logical accommodation space for receiving 124 indent of capacitor is provided on the inside of the housing end face, for the biggish member of 124 equidimension of capacitor
Device is placed, and the integrated level of drive control apparatus is further promoted.
It refers to Fig. 3-integrated electric motor structure shown in Fig. 9 in the present embodiment, can also be set in the front of circuit board 12
Indicator light 133 is set, the also settable indicator light window 134 on the end face of housing 13, the indicator light 133 on circuit board 12 is launched
Light can be viewed by the indicator light window 134, to learn the working condition of the indicator light 133.The indicator light can be use
In the indicator light for indicating various warning messages or working condition.
In some examples of the present embodiment, the display unit window for installing display unit is provided on housing, it should
Display unit is connect for showing various information with the drive control circuit on circuit board, including but not limited to various states and/
Or warning message, and the display unit in the present embodiment can be liquid crystal display or OLED display unit.It should be understood that
, can flexibly select setting indicator light window and/or display unit window in the present embodiment on housing according to demand.
In a kind of example in the present embodiment, bracket 11 can be used but be not limited to insulating material support, may be, for example, but
It is not limited to various plastic stents or ceramics bracket etc..
In a kind of example in the present embodiment, bracket 11 can be used but be not limited to thermal coefficient lower than presetting thermally conductive system
The low Heat Conduction Material bracket of number threshold value mentions so as to which the heat between circuit board 12 and stepper motor ontology 2 to be isolated
Rise integrated electric motor heat resistance and reliability.
In the present embodiment, the size between bracket 11, circuit board 12 and housing 13 can flexibly be set.In a kind of example
In, after bracket 11, circuit board 12, housing 13 are in turn secured to from bottom to up on 2 rear end of stepper motor ontology, at least the one of bracket
A side is located in housing namely at least one side of bracket is exposed outside the housing, and various information can be carried out on the side
Setting, such as product type, performance, LOGO information etc. setting, it can also be used to the setting etc. of other identifier information.For example,
Referring to shown in Fig. 1 to Fig. 2, only one side of the bracket 11 of integrated electric motor shown in the figure is exposed outside housing, and can be with this
The side of housing flushes or is substantially flush.In another example integrated electric motor shown in Figure 10, the electricity of integration shown in the figure
There are two sides to expose outside housing for the bracket 11 of machine, and together or is substantially flush with the side of housing, other two side is located at cover
In shell.Certainly in other examples, four sides (namely all sides can be arranged in the bracket of integrated electric motor there are three side
Face) expose outside housing, and can flush or be substantially flush with the side of housing.This set can guarantee that integrated electric motor installs it
Integraty afterwards, and can flexibly carry out the setting of various information.
Embodiment six:
Drive control apparatus can constantly carry out energy conversion during the work time, and energy can damage during converting
Consumption, most loss can be converted into heat and come out.It runs, influences under the excessively high environment of temperature for a long time in order to prevent
The operation of stepper motor reduces the service life of stepper motor, the present embodiment integrated electric motor shown in the various embodiments described above
In structure basis, a kind of heat dissipation that can effectively radiate to the heat generated in the drive control apparatus course of work is additionally provided
Structure.
It refers to shown in 1- Fig. 9, housing 13 includes shroud body, and circuit board 12 is arranged in shroud body, in housing sheet
Internal side is provided at least one thermally conductive boss 137 corresponding with 126 region of heating element on circuit board 12, thermally conductive boss
137 extend to 12 direction of circuit board.During integrated electric motor work, the heating element of drive control circuit can be generated
Heat causes temperature to increase, therefore, the fever member device on position and circuit board 12 that the thermally conductive boss 137 in the present embodiment is arranged
Region where part 126 be it is corresponding, the heat that heating element 126 is generated is transmitted to by thermally conductive boss 137
Shroud body, and further heat is dissipated by shroud body and is passed in air, achieve the effect that heat dissipation.
Optionally, in the present embodiment, thermally conductive boss 137 can be contacted directly with the heating element 126 on circuit board 12
, thermally conductive Jie can also be set between heating element 126 and thermally conductive boss 137 in some instances convenient for quick conductive
Matter, heat-conducting medium while to guarantee heat transfer efficiency, can be mentioned simultaneously with good heat conductivity, flexible heat-conducting medium material
The reliability for rising assembly, avoids thermally conductive boss from causing to damage to heating element.In the present embodiment, a thermally conductive boss 137
Multiple heating elements 126 can be corresponded to, can also multiple thermally conductive boss 137 can correspond to a heating element 126, Huo Zheyi
A thermally conductive boss 137 can correspond to a heating element 126.It specifically can flexible setting according to demand.For example, a kind of example
In, the quantity that thermally conductive boss 137 is arranged can be equal with the quantity of heating element 126 on circuit board 12, so that each
Heating element 126 all corresponds to a thermally conductive boss 137, increases the heat-conducting area of drive control apparatus, first with fever in this way
The thermally conductive boss 137 that device 126 contacts can conduct heat to air, i.e. heat loss through conduction by natural heat-exchange, avoid
Heating element carries out accumulation of heat in continuing working, and impacts to the service life of integrated electric motor.
It should be noted that the housing end face of housing 13 is the face opposite with stepper motor ontology rear end face 20, housing
13 housing side is the face parallel with electric motor back shaft 21, and thermally conductive boss 137 is the lateral circuit board from shroud body end face
12 directions extend to form.Certainly, in some instances, at least one thermally conductive boss can also be from the inside of housing towards circuit board 12
Direction extends to form.
In the present embodiment, thermally conductive boss 137 is metal material, the including but not limited to thermal conductivity such as aluminium alloy, copper, iron, silver
The good metal material of energy；It certainly can also be the material of other good heat conductivities, however it is not limited to the metal material of above-mentioned example.One
In kind example, the material of thermally conductive boss 137 and the material of shroud body can be identical, and different materials can also be used certainly.Cover
Shell ontology can be produced with thermally conductive boss using integral forming process, the shroud body processed in this way and thermally conductive boss
It is an entirety, it is easy for installation, and can improving production efficiency.
Using the housing of metal or other materials with heat sinking function in the present embodiment, facilitate heat dissipation for circuit board and drop
The heat that low stepper motor work generates, improves the stability of product.
Optionally, in a kind of example of the present embodiment, in the also settable at least one set of radiating fin in the outside of shroud body,
Such as one group of radiating fin is set in housing end face, so that convection current is formed with air inside drive control apparatus, in thermally conductive boss
On the basis of radiated simultaneously using radiating fin, double-radiation function ensures the heat dissipation effect of the drive control apparatus of integrated electric motor,
Further increase heat dissipation effect.
Embodiment seven:
As shown in above-mentioned analysis, the acquisition conduct that magnetic coder carries out information is can be used in the integrated electric motor in the present embodiment
Control foundation.Relatively traditional uses photoelectric encoder to feed back as position signal, due to the sensibility of photoelectric encoder, causes
Motor assembly and in use, must assure that encoder is in dry, dustless environment, and the material of photoelectric code disk is usually glass
Glass or film, it is narrow to encoder environment Acclimation temperature range.It is limited using metal code disk by technique, diameter
Code-disc line number within 20mm is usually all in 500 lines hereinafter, small size code-disc is typically all low line number or the odd height of price, low line
Number encoder device is not available in closed loop step actuator, and the odd high small size photoelectric encoder of price greatly limits 42 or less machines
The closed loop application of seat motor, largely limits the implementation and application of integrated electric motor.Therefore it is directed in the present embodiment
Integrated electric motor is fed back using magnetic coder as position signal, and is guaranteed by location structure exemplified by the various embodiments described above
The installation accuracy of magnetic coder.But since manufacture craft and assembly technology limit, it is difficult to ensure that magnetic coder is in installation process
In will not introduce installation error, it is formal because of that, typically only use magnetic using the automatic control control equipment of magnetic coder at present
Encoder carries out some simple position feedbacks and is not involved in real-time control, also causes general using the control equipment of magnetic coder
It will not all realize real closed-loop control.
In view of the above-mentioned problems, the drive control circuit of drive control apparatus is used to correct rank in magnetic coder in the present embodiment
Section control stepper motor is run under open loop situations with pre-set velocity, and after stepper motor is with pre-set velocity even running, is obtained
The speed increment in prefixed time interval is taken, rectification building-out caused by obtaining according to speed increment because of magnetic coder assembling deviation is joined
Number is stored.
In the present embodiment, rectification building-out caused by being obtained according to obtained speed increment because of magnetic coder assembling deviation is joined
The mode that number is stored can be used but be not limited to any one following mode:
Mode one: obtaining harmonic component by Fourier transformation for speed increment, according in harmonic component because of magnetic coder
Target harmonic component caused by assembling deviation (namely detection signal fluctuation of magnetic coder rigging error introducing) obtains correction and mends
Parameter is repaid to be stored；
Mode two: according to speed increment and preset speed increment and rectification building-out parameter mapping table, this is found
The corresponding rectification building-out parameter of speed increment is stored.
I.e. using obtained rectification building-out parameter, for disk coder, caused assembly is missed during the installation process in this way
Difference is corrected compensation.
It should be understood that drive control circuit may include microprocessor and connect with the microprocessor in the present embodiment
The control circuit connect, optionally may also include storage unit.Process for obtaining rectification building-out parameter above can be by setting
Software realization in the memory unit is set, microprocessor can call the above-mentioned rectification building-out ginseng of the software realization in storage unit
Several acquisition process.In some instances, by circuit unit corresponding in control circuit or corresponding chip can also be set, with
Microprocessor is implemented in combination with the acquisition of above-mentioned rectification building-out parameter.
In the present embodiment, the rectification building-out parameter of acquisition includes in the harmonic amplitude and harmonic phase value of target harmonic wave
It is at least one.In this way microprocessor it is subsequent stepper motor ontology is controlled when, can be based on the harmonic amplitude got
And/or harmonic phase value compensates processing, the signal fluctuation for avoiding magnetic coder rigging error to introduce as far as possible, to guarantee
The accuracy of signal is detected, and then guarantees accurately to control stepper motor main body based on the information that magnetic coder detects
System.And in the present embodiment, the primary automatic calibration of above process progress can be triggered when integrated electric motor powers on for the first time to calculate
To rectification building-out parameter, integrated electric motor in the subsequent use process, if magnetic coder and stepper motor ontology are opposite
There is no changing not needing to carry out secondary calibration then, correction course is reliable and simple for position.After through above-mentioned calibration
Magnetic coder can collect accurate information and feed back as position signal, therefore can be based on the collected information of magnetic coder
Real closed-loop control is carried out to stepper motor ontology.So that magnetic coder can be used in addition to realization is some simple in integrated electric motor
Position feedback outside may also participate in real-time control, improve the application range of magnetic coder.
In a kind of example of the present embodiment, after stepper motor is with pre-set velocity even running, between acquisition preset time
Every interior speed increment, after speed increment is obtained harmonic component by Fourier transformation, extract in harmonic component because magnetic encodes
Target harmonic component caused by device assembling deviation may include at least one of second harmonic, four-time harmonic.And in the present embodiment
Pre-set velocity can be configured according to concrete application scene and the present embodiment in magnetic coder digit and its configuration
Information and the rectification building-out parameter got, which obtain storage location etc., all can flexibly set.
In the present embodiment, drive control circuit can be connected by communication bus terminal with external corresponding Corrective control equipment
It connects, and after receiving magnetic coder correction enabled instruction by communication bus terminal, controls stepper motor under open loop situations
Run with pre-set velocity, and detect stepper motor after with the pre-set velocity stable operation, obtain prefixed time interval
Interior speed increment.In a kind of example of the present embodiment, the prefixed time interval and pre-set velocity can be based on magnetic coder
The flexible settings such as digit.
In the present embodiment, after harmonic amplitude and/or harmonic phase value that target harmonic wave is got based on the above process,
In the subsequent use process of integrated electric motor, available harmonic amplitude and/or harmonic phase value these rectification building-out parameters
After being corrected control to magnetic coder, the precise acquisition of the information such as position is carried out using magnetic coder, is adopted based on magnetic coder
The information collected carries out carrying out closed-loop control to stepper motor ontology.Closed-loop control is carried out to component motor ontology in the present embodiment
Closed-loop Control Strategy may include but be not limited to vector control strategy and advance angle and adjust at least one of control strategy.
For example, drive control circuit can also be super based on the collected acquisition of information electric current of magnetic coder in a kind of example
Anterior angle, and electric current advance angle is added in the current angle of feedback and is sent to stepper motor, to realize advanced angular transformation control,
Promote the control precision of stepper motor.
It should be understood that the acquisition of the rectification building-out parameter of above-mentioned magnetic coder is not limited to Fig. 1-figure in the present embodiment
Integrated electric motor structure shown in 10 is also applied for other integrated electric motor structures for being provided with magnetic coder.For the ease of reason
It solves, using Fig. 1-integrated electric motor structure shown in Fig. 10 as example below the present embodiment, to the control process of the integrated electric motor
It is illustrated with magnetic encoding calibration process.
Shown in Figure 11, the control process of the integrated electric motor includes:
S1101: clock configuration is carried out to integrated electric motor.
S1102: initializing integrated electric motor, including but not limited to initializes to chips such as microprocessors.
S1103: state setting is carried out to integrated electric motor, such as state can be carried out to it through but not limited to toggle switch
Setting.
S1104: it is magnetically encoded device calibration process.
S1105: when needed, online upgrading processing is carried out to integrated electric motor.
Wherein, the process for being magnetically encoded device calibration process is shown in Figure 12, comprising:
S1201: judging whether magnetic coder calibration starts, such as detection is enough to receive magnetic coder correction starting to refer to
It enables, which corrects enabled instruction other than it can pass through communication bus terminal and receive, can also be by setting on integrated electric motor
The control button set issues, if so, going to S1202；Otherwise, continue to judge or terminate.
S1202: read the configuration information of magnetic coder, it may include but be not limited to the digit of magnetic coder, pre-set velocity with
And storage location etc..
S1203: control stepper motor forces open loop operation.
S1204: judging whether stepper motor is traveled at the uniform speed with pre-set velocity, if so, going to S1205；Otherwise, continue to go to
S1203 continues to judge.
S1205: the speed increment in prefixed time interval is obtained.
S1206: speed increment is obtained into harmonic component by Fourier transformation.
S1207: according in harmonic component because of magnetic coder assembling deviation caused by target harmonic component (i.e. in addition to fundamental wave
Twice and/or four-time harmonic component etc.) obtain rectification building-out parameter, harmonic amplitude and harmonic wave phase including target harmonic component
Position.In a kind of example, it can also be searched according to speed increment and preset speed increment and rectification building-out parameter mapping table
To the harmonic amplitude and harmonic phase of the corresponding target harmonic component of the speed increment.
S1208: harmonic amplitude and harmonic phase to the target harmonic component of acquisition are stored into the storage location of reading.
By correction course shown in Figure 12, relative to the mode calibrated without magnetic coder, according to side shown in upper figure
Magnetic coder after formula calibration, the repeatable accuracy of detection can be reduced to 0.05 degree by 0.1 degree, can be very good to meet stepper motor
Closed-loop control requirement, to propose the control precision of stepper motor.
Embodiment eight:
In addition, though oneself stepper motor that is widely used, but is commonly used of stepper motor can not be as common
Direct current generator, alternating current generator can work under various modes.The operating mode of stepper motor is more single at present, is usually exactly work
Make under pulse/direction controlling mode, it is necessary to can be used by forming control systems such as pulse signal, power driving circuits.By
It is more single in the operating mode that it is used, it brings inconvenient to many applications or even limits its answering in many instances
With.
Therefore, a kind of stepping motor control apparatus is present embodiments provided, it is shown in Figure 13 comprising successively to communicate
Data interaction module 1301, data processing module 1302, the control module 1303 of connection；
Data interaction module 1301 and stepper motor (namely stepper motor ontology) host controller (can for independently of
Host controller except drive control apparatus can also be the control being integrated in the drive control circuit of drive control apparatus
Device) carry out data interaction acquisition data or instruction.Data interaction module 1301 in the present embodiment can be based on communication bus terminal
Or the communication interface inside drive control apparatus realizes the data between host controller or the interaction of instruction.
Data processing module 1302 issues control after being parsed the data that data interaction module 1301 is got or instruction
Molding block 1303；Stepper motor in the present embodiment supports torque operating mode, position operating mode, bus type communication control work
At least two in operation mode and programmable operation operating mode, control module 1303 is controlled according to the data or instruction that receive
Stepper motor works under corresponding operating mode.Data processing module 1302 in the present embodiment can be real through but not limited to energy
The circuit or chip of existing data or instruction parsing are realized.Control module 1303 in the present embodiment then can be through but not limited to various
Microprocessor realize, for example including but be not limited to the Pu En Zhi semiconductor company LPC11C00 series microcontroller, can also adopt
With the microcontroller of Texas Instrument model TMS320F28030/28031/28032/28033/28034/28035；Microprocessor
11 can also use but be not limited to the SH of Am386EM, Hitachi of the X86 chip of Intel Company, i960 chip or Advanced Micro Devices
Risc chip etc.；Peripheral circuit then can flexible setting according to demand, such as may include but be not limited to RAM, ROM, timer, interruption
At least one of peripheral circuits such as scheduling.
Control module 1303 in the present embodiment is flat including Closed Loop Control Unit, AD conversion unit, filter unit, track
Sliding unit, motion profile generation unit, instruction storage and reading control unit and operating mode control unit, Closed Loop Control Unit
It only include electric current loop Closed Loop Control Unit, position ring Closed Loop Control Unit；
Operating mode control unit calls electric current loop Closed Loop Control Unit, position ring Closed Loop Control Unit, analog-to-digital conversion list
Member, filter unit, smooth trajectory unit, motion profile generation unit, instruction storage and reading control unit and operating mode control
Corresponding unit control stepper motor works under corresponding operating mode in unit processed.
Shown in Figure 13, the stepping motor control apparatus in the present embodiment further includes connecting respectively with control module
At least one of alarm module 1304 and protective module 1305；
Alarm module 1304 is provided when meeting and setting alert if according to the working condition of stepper motor and is alarmed；This
Alarm module 1304 in embodiment can be controlled by various warning note units, such as above-mentioned indicator light in conjunction with corresponding alarm
Circuit processed is realized.
Protective module 1305 provides protection when meeting and setting protective condition according to the working condition of stepper motor.Protect mould
Block 1305 can be used for providing integrated electric motor the protection under the situations such as power down, over-voltage, under-voltage, excess temperature, limit.In the present embodiment
Protective module can through but not limited to various power-down protection circuits, overvoltage crowbar, under-voltage protecting circuit, overheat protector electricity
Road, position limitation protection circuit are realized.
Stepper motor in the present embodiment supports torque operating mode, position operating mode, the work of bus type communication control
In mode and programmable operation operating mode at least two and can support to switch between different operating modes；This reality simultaneously
Applying the Closed Loop Control Unit in example only includes electric current loop Closed Loop Control Unit, position ring Closed Loop Control Unit, and speed is omitted
Closed Loop Control Unit is changed, it, can be true according to positional increment when needing PI (Proportional Integral) parameter of speed ring
Speed is made, it is equivalent using PID (Proportion Integration Differentiation) operation result of position ring
This characteristic of the PI parameter of speed ring is added in the PI parameter of position ring, is realized merely with electric current loop Closed Loop Control Unit and position
The control output of ring Closed Loop Control Unit replaces utilizing electric current loop Closed Loop Control Unit, position ring Closed Loop Control Unit using existing
The control output that Closed Loop Control Unit is changed with speed, it can be achieved that existing benefit under the premise of omitting speed and changing Closed Loop Control Unit
With the identical control effect of three Closed Loop Control Units, resource utilization is improved while simplifying control.
Control module 1303 works under corresponding operating mode according to the data or instruction control stepper motor that receive.
For example, in a kind of example of the present embodiment, stepper motor supports torque operating mode, and when being in torque operating mode, work
Operation mode control unit can call electric current loop Closed Loop Control Unit, AD conversion unit, filter unit control stepper motor in power
It works under square operating mode.
In the present embodiment, in the case where supporting torque operating mode, the output of stepper motor is required torque, operating mode
Control unit calls electric current loop Closed Loop Control Unit, AD conversion unit, filter unit, and analog quantity reference input mode can be used
With both control modes of user instruction input mode, analog quantity reference input mode allows user to set output torque/simulation
Input voltage ratio, analog voltage bias and dead band value, user instruction input mode allow user to be supported using motor
It instructs through RS232 communication terminal, RS485 communication terminal, CAN communication terminal, the communication modes such as Ethercat communication terminal are straight
Connect setting output torque size.
In a kind of example of the present embodiment, stepper motor support position operating mode, and be in position operating mode when,
Operating mode control unit calls electric current loop Closed Loop Control Unit, position ring Closed Loop Control Unit, AD conversion unit, track flat
Sliding unit.Under mode position, the positional increment that operating mode control unit can be acquired by position ring Closed Loop Control Unit is true
Speed is made to realize the relevant PI of speed ring or PID control.Wherein motor can be turned to specified absolute distance or phase
It adjusts the distance, operating mode control unit calls electric current loop Closed Loop Control Unit, position ring Closed Loop Control Unit, analog-to-digital conversion list
Member, smooth trajectory unit, it may include but it is not limited to two kinds of control modes of analog quantity reference input mode and pulse input mode, mould
Analog quantity reference input mode allows user to set operation step number/analog input voltage ratio, analog voltage bias and dead band value,
Pulse input mode allows user to control motor using pulse mode, while supporting pulse/direction signal, direct impulse/anti-again
Input to three kinds of pulse signals of pulse signal and orthogonal pulses signal.
In a kind of example of the present embodiment, stepper motor supporting bus formula communication control operating mode, and it is in bus
When formula communication control operating mode, operating mode control unit calls electric current loop Closed Loop Control Unit, position ring closed-loop control list
Member, filter unit, motion profile generation unit.Under bus type communication control operating mode, operating mode control unit is called
When electric current loop Closed Loop Control Unit, position ring Closed Loop Control Unit, filter unit, motion profile generation unit, user be can be used
Host computer or Control card pass through RS232 communication terminal, RS485 communication terminal, CAN communication terminal, Ethercat communication ends
The instruction that the communication modes such as son call motor to be supported.And operating mode control unit can be adopted by position ring Closed Loop Control Unit
The positional increment of collection determines speed to realize the relevant PI of speed ring or PID control.
In a kind of example of the present embodiment, stepper motor supports programmable operation operating mode, and in programmable fortune
When row operating mode, operating mode control unit calls electric current loop Closed Loop Control Unit, position ring Closed Loop Control Unit, modulus to turn
It changes unit, filter unit, motion profile generation unit, instruction storage and reads control unit.In programmable operation operating mode
Under, the positional increment that operating mode control unit can be acquired by position ring Closed Loop Control Unit determines speed to realize speed
Spend the relevant PI of ring or PID control.A series of control instructions that upper computer software can be used to support motor for user are cured to electricity
In the internal included storage unit of machine driving, motor can be according to the instruction automatic running write.
And in the present embodiment, above several operating modes can support the setting of I/O connecting terminal function, including but unlimited
In enabled motor, limit input, starting/out of service, mark internal operation state, the input and output of conditionity etc..
It should be understood that stepping motor control apparatus provided by the present embodiment can be integrally disposed in integrated electric motor
In drive control apparatus, which can be but be not limited to Fig. 1-integrated electric motor shown in Fig. 10.Certain the present embodiment
In stepping motor control apparatus can also be integrally disposed in the driver that stepper motor ontology and driver separate.By this reality
The stepping motor control apparatus for applying example offer may make stepper motor support multiple-working mode and can be merely with electric current loop closed loop
Control unit, position ring Closed Loop Control Unit realize that stepper motor works and switches under a plurality of modes of operation, greatly rich
The rich function and application range of stepper motor kinematic system, extends the application of stepper motor.
Embodiment nine:
The present embodiment additionally provides a kind of automatic control system, including one shown in executing agency and each embodiment as above
Body motor, stepper motor main body are connect with executing agency, and drive control apparatus passes through stepper motor main body control executing agency
Execute corresponding movement.Executing agency in the present embodiment may include but be not limited to for realizing engraving, medical instrument control, machine
Tool hand equipment etc..
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (23)
1. a kind of drive control apparatus of integrated electric motor, which is characterized in that the drive control apparatus and stepper motor ontology
Being connected to form one motor, the drive control apparatus include housing, the housing end face of the housing and the stepper motor
Ontology rear end face is opposite, and the housing side of the housing is parallel with the shaft of the stepper motor ontology；
The drive control apparatus further includes the circuit board being set in the housing, is provided with drive control on the circuit board
Circuit and the I/O wiring units being connected with drive control circuit, the wiring side of the I/O connecting terminal of the I/O wiring units
Certain angle and be revealed in outside housing from the housing side to being formed with the housing side, in order to I/O terminals
Son match connection I/O connection plug insertion；
Wherein, at least one target component, and at least one being arranged by housing end face are additionally provided on the circuit board
Through slot is exposed to outside housing.
2. the drive control apparatus of integrated electric motor as described in claim 1, which is characterized in that the I/O connecting terminal
The angle that wiring direction and the housing side are formed is 90 °.
3. the drive control apparatus of integrated electric motor as described in claim 1, which is characterized in that the I/O connection plug is
Screw pressure line type plug.
4. the drive control apparatus of integrated electric motor as described in claim 1, which is characterized in that the target component includes
At least one of communication bus terminal and toggle switch.
5. the drive control apparatus of integrated electric motor as claimed in claim 4, which is characterized in that the target component includes
Communication bus terminal and toggle switch, the communication bus terminal and toggle switch are respectively arranged at opposite on the circuit board
Two sides or adjacent two sides, the through slot include opposite sides on the housing end face or adjacent two sides and respectively with
The communication bus terminal and corresponding first through slot of toggle switch and the second through slot；The communication bus terminal with communicate it is total
Line plug connection one end by first through slot it is exposed outside, the toggle switch by second through slot it is exposed
Outside.
6. the drive control apparatus of integrated electric motor as claimed in claim 5, which is characterized in that first through slot and described
At least one of second through slot housing side adjacent thereto communicates.
7. the drive control apparatus of integrated electric motor as claimed in claim 4, which is characterized in that the communication bus terminal packet
Include at least one of the following:
RS485 communication terminal, RS232 communication terminal, CAN communication terminal, Ethercat communication terminal.
8. such as the drive control apparatus of the described in any item integrated electric motors of claim 1-7, which is characterized in that the I/O connects
Line terminals include the power supply terminal and ground terminal of power supply source input.
9. the drive control apparatus of integrated electric motor as claimed in claim 8, which is characterized in that the I/O connecting terminal is also
Including at least one of lower terminal:
Control terminal for input control signal, the setting terminal for inputting setting signal.
10. a kind of integrated electric motor, which is characterized in that including stepper motor ontology and as claim 1-9 is described in any item
Drive control apparatus is provided with the connection for connecting with the drive control apparatus in the stepper motor ontology rear end face
Screw hole, the housing, circuit board are respectively arranged with position screwing through hole corresponding with the screw hole, and attachment screw is successively worn
It crosses the housing, the attachment screw through-hole on circuit board and screws in corresponding connection spiral shell in the stepper motor ontology rear end face
In nail hole, the housing, circuit board and the stepper motor ontology are connected as an entirety；
Attachment screw hole in the stepper motor ontology rear end face is two or three, and at least two attachment screw holes at
Diagonal line setting.
11. integrated electric motor as claimed in claim 10, which is characterized in that be arranged in the stepper motor ontology rear end face
Attachment screw hole in, do not run through the second screw hole of the front-end and back-end of the stepper motor ontology including at least one, it is described
Attachment screw includes the second screw for screwing in second screw hole；
And/or
In the attachment screw hole being arranged in the stepper motor ontology rear end face, including at least one runs through the stepper motor sheet
First screw hole of the front-end and back-end of body, the attachment screw further includes the first screw for screwing in first screw hole, described
First screw runs through the front-end and back-end of the stepper motor ontology.
12. integrated electric motor as claimed in claim 10, which is characterized in that the drive control apparatus further includes being set to institute
The bracket between circuit board and the stepper motor ontology rear end face is stated, the circuit board one side opposite with the bracket is
Back of circuit board, is additionally provided with magnetic coder on the back of circuit board, corresponding with the magnetic coder on the bracket
Region is provided with the first through hole for magnetic coder acquisition information；
It is provided with second through-hole opposite with the first through hole position in the stepper motor ontology rear end face, described second
The magnetic sheet for being provided with electric motor back shaft in through-hole and being fixed on the electric motor back shaft；
The integrated electric motor further includes being set between the bracket and stepper motor ontology rear end, leading to described first
Hole and second through-hole is concentric and the concentric locating boss of interior sky；The bracket is fixed on stepper motor ontology rear end
When, the first through hole is directed at connection by concentric locating boss realization with second through-hole, with the first through hole
Magnetic sheet in the corresponding magnetic coder of phase position and second through-hole on electric motor back shaft forms magnetic cooperation.
13. integrated electric motor as claimed in claim 12, which is characterized in that the bracket is close to the stepper motor ontology
It is on one side cradle back, the concentric locating boss is arranged in the cradle back around the first through hole；Described second
Through-hole is adapted close to the opening inside diameter of the cradle back with the outer diameter of the concentric locating boss；The bracket is fixed on
When the stepper motor ontology rear end, the concentric locating boss is embedded in second through-hole, realizes the first through hole and institute
State the logical alignment connection of the second through-hole；
Or,
The concentric locating boss is arranged in the cradle back around the first through hole；Stepper motor ontology rear end
Second through-hole is provided with diameter the second concentric locating compatible with the diameter of the concentric locating boss on end face
Groove；When the bracket is fixed on the stepper motor ontology rear end, the concentric locating boss insertion described second is with one heart
Positioning groove realizes that the first through hole is connect with the alignment that second through-hole leads to；
Or,
The concentric locating boss is arranged in the stepper motor ontology rear end face around second through-hole；Described first
Through-hole is adapted close to the opening inside diameter of the stepper motor ontology rear end face with the outer diameter of the concentric locating boss；By institute
When stating bracket and being fixed on the stepper motor ontology rear end, the concentric locating boss is embedded in the first through hole, described in realization
First through hole is connect with the alignment that second through-hole leads to；
Or,
The concentric locating boss is arranged in the stepper motor ontology rear end face around second through-hole；The bracket
The first through hole is provided with diameter the first concentric locating compatible with the diameter of the concentric locating boss on the back side
Groove；When the bracket is fixed on the stepper motor ontology rear end, the concentric locating boss insertion described first is with one heart
When positioning groove, realize that the first through hole is connect with the alignment that second through-hole leads to.
14. integrated electric motor as claimed in claim 10, which is characterized in that the drive control apparatus further includes being set to institute
The bracket between circuit board and the stepper motor ontology rear end face is stated, the circuit board one side opposite with the bracket is
Back of circuit board, is additionally provided with magnetic coder on the back of circuit board, corresponding with the magnetic coder on the bracket
Region is provided with the first through hole for magnetic coder acquisition information；
It is provided with position the second through-hole corresponding with the first through hole in the stepper motor ontology rear end face, described
The magnetic sheet for being provided with electric motor back shaft in two through-holes and being fixed on the electric motor back shaft；In the stepper motor ontology rear end face
It is additionally provided with positioning column；
It is provided with first positioning through hole opposite with the positioning column position on the bracket, is provided on the circuit board and institute
State that positioning column position is opposite, and the second positioning through hole that its internal diameter and the positioning column outer diameter match, when installation, the positioning
Column sequentially passes through the first positioning through hole on the bracket and the second positioning through hole on circuit board, and the magnetic on the circuit board is compiled
Code device forms magnetic cooperation by the magnetic sheet in the first through hole and second through-hole.
15. such as the described in any item integrated electric motors of claim 12-14, which is characterized in that stepper motor ontology rear end
The first auxiliary positioning hole is provided on end face, it is opposite with first auxiliary positioning hole to be additionally provided with position in the cradle back
The the first auxiliary positioning column answered, when the bracket is fixed on the stepper motor ontology rear end, the first auxiliary positioning column
It is embedded in first auxiliary positioning hole.
16. such as the described in any item integrated electric motors of claim 12-14, which is characterized in that the bracket is far from the stepping
The one side of motor body is bracket front, is provided with the second auxiliary positioning column on the bracket front, is arranged on the circuit board
There are position and the second auxiliary positioning column corresponding second auxiliary positioning hole, during installation, the second auxiliary positioning column
Second auxiliary positioning hole is embedded in for fixing circuit board.
17. such as the described in any item integrated electric motors of claim 12-14, which is characterized in that the bracket is far from the stepping
The one side of motor body is bracket front, is additionally provided with support rim on bracket front, when installation the back of circuit board
It is resisted against on the support rim and forms component accommodation space between the bracket front, the member on the back of circuit board
In the component accommodation space of device position.
18. such as the described in any item integrated electric motors of claim 12-14, which is characterized in that the bracket is insulating materials branch
Frame and/or the bracket are the low Heat Conduction Material bracket that thermal coefficient is lower than default thermal coefficient threshold value.
19. such as the described in any item integrated electric motors of claim 12-14, which is characterized in that the bracket, circuit board, housing
After being in turn secured on stepper motor ontology rear end from bottom to up, at least one side of the bracket is located at the housing
It is interior.
20. integrated electric motor as described in claim 10 or 11, which is characterized in that the circuit board and the stepper motor sheet
The opposite one side of body rear end face is back of circuit board, is provided with magnetic coder on the back of circuit board；
The second through-hole is provided in the stepper motor ontology rear end face, be provided in second through-hole electric motor back shaft and
The magnetic sheet being fixed on the electric motor back shaft；Positioning column is additionally provided in the stepper motor ontology rear end face；
Be provided on the circuit board it is opposite with the positioning column position, and its internal diameter and the pin outer diameter match second
Positioning through hole, when installation, the positioning column passes through the second positioning through hole on the circuit board, the magnetic coding on the circuit board
The magnetic sheet in device and second through-hole forms magnetic cooperation；
First circuit board carrying protrusion is provided at least one described positioning column, the positioning column passes through on the circuit board
After second positioning through hole, the circuit board is resisted against in the first circuit board carrying protrusion；
And/or
At least one second circuit board carrying protrusion, the positioning column are provided in the stepper motor ontology rear end face
After the second positioning through hole on the circuit board, the circuit board is resisted against in the second circuit board carrying protrusion.
21. such as the described in any item integrated electric motors of claim 10-14, which is characterized in that the housing includes shroud body,
The circuit board is set in the shroud body, corresponding with heating element on the circuit board on the inside of the shroud body
Region is provided at least one the thermally conductive boss extended to the circuit board direction, and the thermally conductive boss is by the heating element
The heat of generation is conducted to shroud body, is distributed outward by shroud body.
22. such as the described in any item integrated electric motors of claim 10-14, which is characterized in that the circuit board and the stepping
The one side of motor body rear end face is back of circuit board, is additionally provided with magnetic coder on the back of circuit board；The driving
Control circuit is used to control the stepper motor ontology in magnetic coder calibration phase and be run under open loop situations with pre-set velocity,
And after the stepper motor ontology is with the pre-set velocity even running, the speed increment in prefixed time interval is obtained；
The speed increment is obtained into harmonic component by Fourier transformation, according in the harmonic component because of the magnetic coder
Target harmonic component caused by assembling deviation obtains rectification building-out parameter and is stored；
Or, finding the speed according to the speed increment and preset speed increment and rectification building-out parameter mapping table
The corresponding rectification building-out parameter of increment is stored.
23. a kind of automatic control system, which is characterized in that including executing agency and as described in claim any one of 10-22
Integrated electric motor, the stepper motor main body connect with the executing agency, and the drive control apparatus passes through the stepping
Motor body controls the executing agency and executes corresponding movement.
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| CN201910177360.1A CN109802608B (en) | 2019-03-08 | 2019-03-08 | Drive control equipment, integrated motor and automatic control system |
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| CN201910177360.1A CN109802608B (en) | 2019-03-08 | 2019-03-08 | Drive control equipment, integrated motor and automatic control system |
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