CN112737208A - Stepping servo actuator based on closed-loop control - Google Patents
Stepping servo actuator based on closed-loop control Download PDFInfo
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- CN112737208A CN112737208A CN201911027356.3A CN201911027356A CN112737208A CN 112737208 A CN112737208 A CN 112737208A CN 201911027356 A CN201911027356 A CN 201911027356A CN 112737208 A CN112737208 A CN 112737208A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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Abstract
The invention relates to the technical field of mechanical transmission equipment, in particular to a stepping servo actuator based on closed-loop control, which comprises a ball spline, wherein a first motor and a second motor are arranged on the ball spline; the shaft body of the ball spline penetrates through the rotor of the second motor, and the rotor of the second motor and the ball spline rotate synchronously; the rotor of the first motor is connected with a first encoder, and the rotor of the second motor is connected with a second encoder. The invention improves the running precision of the ball spline, realizes the effect of continuous running without missing steps, ensures that the whole volume and weight of the product are effectively controlled, and ensures that the application field of the product is not influenced under the condition of improving the performance of the product.
Description
Technical Field
The invention relates to the technical field of mechanical transmission equipment, in particular to a stepping servo actuator based on closed-loop control.
Background
Ball screw, also known as ball screw, is a mechanical transmission element for realizing mutual conversion between rotary motion and linear motion, and is widely used in the fields of tool machinery and precision machinery. A spline is a connecting element of a multi-tooth structure. The ball spline has combined the advantage of ball screw and spline, and it utilizes the ball of dress in the integral key shaft urceolus, carries out level and smooth rolling and transmission moment simultaneously in the roll groove that the precision grinding was made, except having high sensitivity, more can promote the load capacity by a wide margin, is applicable to the vibration impact load and acts on too big, positioning accuracy requires highly and the use scene that needs high-speed motion performance. In addition, under the condition of the same shaft diameter, the rated load capacity of the ball spline is dozens of times of that of the traditional ball screw structure, so that the structural size can be effectively reduced, and the application range is increased.
The ball spline and the motor driving the ball spline to move are combined together to form an execution unit capable of performing linear reciprocating motion. In the motion process of ball spline, existing Z axle direction along the straight line moves, there is the R axle direction motion along the direction of rotation of ball spline self again, consequently want to acquire the motion position data of Z axle and R axle, need adopt two kinds of different sensors and ball spline shaft to overlap joint, for the motion of drive ball spline, still connect outside drive structure, make the integrated configuration that finally presents not only bulky, the structure is numerous, and the dead weight is for ball spline, will increase a lot, be unfavorable for the installation and the operation of product.
Based on above-mentioned problem, lack a section at present and can guarantee that the volume of ball spline and weight specification change under little circumstances, realize the product that obtains the R axle of ball spline and Z axle motion position data, satisfy the demand in market.
Disclosure of Invention
The invention aims to provide a stepping servo actuator based on closed-loop control, and the stepping servo actuator based on closed-loop control solves the technical problems.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
a stepping servo actuator based on closed-loop control comprises a ball spline, wherein a first motor and a second motor are arranged on the ball spline, a shaft body of the ball spline penetrates through a rotor of the first motor, and the rotor of the first motor and the ball spline rotate synchronously;
the shaft body of the ball spline penetrates through the rotor of the second motor, and the rotor of the second motor and the ball spline rotate synchronously;
the rotor of the first motor is connected with a first encoder, and the rotor of the second motor is connected with a second encoder.
The axial direction of the ball spline is defined as a Z axis, the rotating direction of the ball spline is defined as an R axis, the linear motion of the ball spline in the Z axis direction and the rotating motion of the ball spline in the R axis direction are realized by integrating two motors on the ball spline, so that the ball spline becomes a linear guide rail execution structure with active driving capability, and the motion data of the Z axis and the R axis are collected by a first encoder and a second encoder, so that the motion position and the precision of the ball spline can be controlled.
The rotor of the first motor is connected with the ball spline through a first nut.
And the rotor of the second motor is connected with the ball spline through a second nut.
The first motor adopts a servo motor.
The second motor adopts a servo motor.
The first encoder is sleeved on the ball spline, and the second encoder is also sleeved on the ball spline.
The first motor and the second motor both adopt servo motors controlled by a servo vector algorithm.
In the invention, the driver of the first motor and the driver of the second motor are controlled by adopting a servo vector algorithm, so that the running speed and the acceleration and deceleration performance of the motors are greatly improved, the running speed, the precision and the energy control performance of the ball spline in the Z-axis direction are improved, and the rotation precision, the response performance and the energy control of the ball spline in the R-axis direction are improved.
Has the advantages that: by adopting the technical scheme, the linear stroke and rotation stroke data of the ball spline can be collected in real time and then fed to the drivers of the two motors, and then the two motors are driven and adjusted in a stepping mode according to the feedback data and a servo vector algorithm, so that the running precision of the ball spline is improved, the effect of continuous running without step loss is realized, the integral volume and weight of a product are effectively controlled, and the application field of the product is not influenced under the condition of improving the performance of the product.
Drawings
FIG. 1 is a schematic diagram of a structure of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific drawings. It is noted that the terms "first," "second," "third," "fourth," and the like (if any) in the description and in the claims of the invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises" or "comprising," and any variations thereof, are intended to cover non-exclusive inclusions, such that a product or apparatus that comprises a list of elements or units is not necessarily limited to those elements or units expressly listed, but may include other elements or units not expressly listed or inherent to such product or apparatus.
Referring to fig. 1, a stepping servo actuator based on closed-loop control includes a ball spline 10, a first motor 03 and a second motor 04 are disposed on the ball spline 10, a shaft body of the ball spline 10 passes through a rotor 02 of the first motor 03, and the rotor 02 of the first motor 03 and the ball spline 10 rotate synchronously; the shaft body of the ball spline 10 penetrates through the rotor 07 of the second motor 04, and the rotor 07 of the second motor 04 and the ball spline 10 rotate synchronously; the rotor 02 of the first electric machine 03 is connected to a first encoder 09, and the rotor 07 of the second electric machine 04 is connected to a second encoder 08. In the present invention, the axial direction of the ball spline 10 is defined as the Z-axis, and the rotational direction of the ball spline 10 is defined as the R-axis.
In some embodiments, the rotor 02 of the first motor 03 is connected to the ball spline 10 by a first nut 01. The rotor 07 of the second motor 04 is connected to the ball spline 10 by a second nut 05. It should be noted that the ball spline includes a screw rod portion and a spline portion, a first nut for connecting the first motor and the ball spline is a spline nut, and a second nut for connecting the second motor and the ball spline is a ball nut. The first nut 01 is used to connect a spline portion of the ball spline and the rotor 02 of the first motor 03. First nut 01 is fixed on rotor 02, is equipped with the slot at first nut 01's hole, sets up the ball on the slot, guarantees the spline position and the connection of first nut 01 of ball spline through the ball to form along the power transmission structure of ball spline axial (Z axle direction), after the drive power who acquires first motor, make the ball spline produce reciprocating motion along the Z axle.
Correspondingly, the second nut 05 is used for connecting the screw rod part of the ball spline and the rotor 07 of the second motor 04, and directly applying the rotary power of the rotor to the ball spline rod body to enable the ball spline rod body to rotate along the R axis.
In some embodiments, the first motor 03 adopts a step servo motor, and the servo control precision is 0.005mm to 0.002mm when the ball spline is driven to make reciprocating linear motion along the Z axis.
In some embodiments, the second motor 04 is a step servo motor, and the servo control precision is 0.018 degrees to 0.02 degrees when the ball spline is driven to rotate along the R axis.
In some embodiments, a first encoder is sleeved on the ball spline 10 and a second encoder is also sleeved on the ball spline 10. In some preferred embodiments, the first encoder 09 and the second encoder 08 are spaced apart by a distance of 2mm to 3 mm.
In some embodiments, dust covers are provided on both the exterior of the first encoder 09 and the exterior of the second encoder 08. In some preferred embodiments, the dust covers on the two encoders are designed in an integrated manner, the two encoders are covered in the dust covers, and the dust covers on the two encoders, the housing of the first motor and the housing of the second motor can be arranged in a seamless connection manner.
In some embodiments, the first motor 03 has a first encoder 09 at the rear end and an end cap at the front end.
In some embodiments, the second encoder 08 is disposed at the front end of the housing of the second motor 04, and the bottom fixing seat 06 is disposed at the rear end.
In some preferred embodiments, the ball spline 10 passes through the end cap and the bottom mounting in sequence.
In some embodiments, the first motor 03 and the second motor 04 both use servo motors controlled by a servo vector algorithm, and the driver of the first motor 03 and the driver of the second motor 04 use the servo vector algorithm to control the motors.
The invention uses a high-precision encoder to realize a closed-loop control structure, and the encoder feeds back the operation parameters of the motor in real time to form a current loop, a position loop or a speed loop for control. The stator current vector of the motor is decomposed into a current component for generating a magnetic field and a current component for generating torque, the current components are respectively controlled, and the amplitude and the phase between the two components are simultaneously controlled, namely the stator current vector is controlled, so that the driver can control the running position of the motor through a current loop, a position loop and a speed loop.
According to the invention, after two motors are integrated on the ball spline 10, the linear motion of the ball spline 10 in the Z-axis direction and the rotary motion of the ball spline 10 in the R-axis direction are realized, so that the ball spline 10 becomes a linear guide rail execution structure with active driving capability, and the motion data of the Z-axis and the R-axis are collected through the first encoder and the second encoder, so that the motion position and the precision of the ball spline 10 can reach controllable effects, and the performance of the linear guide rail execution structure of the invention reaches the level of a stepping servo motor, but the volume is much smaller and smaller than that of the servo motor, and the linear guide rail execution structure is easy to install and arrange in an application occasion where the traditional servo motor cannot be arranged. The driver of the first motor 03 and the driver of the second motor 04 are controlled by a servo vector algorithm, so that the running speed and the acceleration and deceleration performance of the motors are greatly improved, the running speed, the precision and the energy control performance of the ball spline 10 in the Z-axis direction are improved, and the rotation precision, the response performance and the energy control of the ball spline 10 in the R-axis direction are improved.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A stepping servo actuator based on closed-loop control comprises a ball spline, and is characterized in that a first motor and a second motor are arranged on the ball spline, a shaft body of the ball spline penetrates through a rotor of the first motor, and the rotor of the first motor and the ball spline rotate synchronously;
the shaft body of the ball spline penetrates through the rotor of the second motor, and the rotor of the second motor and the ball spline rotate synchronously;
the rotor of the first motor is connected with a first encoder, and the rotor of the second motor is connected with a second encoder.
2. The closed-loop-control-based step servo actuator as claimed in claim 1, wherein the rotor of the first motor is connected to the ball spline via a first nut.
3. The closed-loop-control-based step servo actuator as claimed in claim 1, wherein the rotor of the second motor is connected to the ball spline via a second nut.
4. The closed-loop-control-based stepping servo actuator as claimed in claim 1, wherein the first motor is a servo motor.
5. The stepping servo actuator based on closed-loop control of claim 4, wherein the servo control accuracy of the first motor is 0.005 mm-0.002 mm.
6. The closed-loop-control-based stepping servo actuator as claimed in claim 1, wherein the second motor is a servo motor.
7. The stepping servo actuator based on the closed-loop control as claimed in claim 6, wherein the servo control precision of the second motor is 0.018-0.02 degrees.
8. The closed-loop-control-based step servo actuator as claimed in claim 1, wherein the first encoder is sleeved on the ball spline and the second encoder is also sleeved on the ball spline.
9. The closed-loop-control-based step servo actuator as claimed in claim 1, wherein the first encoder and the second encoder are spaced apart by a distance of 2mm to 3 mm.
10. The closed-loop control-based stepper servo actuator of claim 1, wherein the first motor and the second motor are both servo motors controlled by a servo vector algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911027356.3A CN112737208A (en) | 2019-10-28 | 2019-10-28 | Stepping servo actuator based on closed-loop control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911027356.3A CN112737208A (en) | 2019-10-28 | 2019-10-28 | Stepping servo actuator based on closed-loop control |
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| Publication Number | Publication Date |
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| CN112737208A true CN112737208A (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911027356.3A Pending CN112737208A (en) | 2019-10-28 | 2019-10-28 | Stepping servo actuator based on closed-loop control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115664104A (en) * | 2022-11-03 | 2023-01-31 | 上海狄兹精密机械股份有限公司 | ZR executor of high accuracy control power |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05187511A (en) * | 1992-01-13 | 1993-07-27 | Nippon Seiko Kk | Ball screw driving and control device |
| JP2002266973A (en) * | 2001-03-12 | 2002-09-18 | Automax Kk | Electric cylinder |
| CN204640221U (en) * | 2015-03-25 | 2015-09-16 | 苏州大学 | A kind of two-freedom manipulator of integrated form and control system thereof |
| CN108803688A (en) * | 2018-06-25 | 2018-11-13 | 华南理工大学 | A kind of Synchronous motion control device and method of rotary motion and linear movement |
| CN210629261U (en) * | 2019-10-28 | 2020-05-26 | 上海狄兹精密机械股份有限公司 | Stepping servo actuator based on closed-loop control |
-
2019
- 2019-10-28 CN CN201911027356.3A patent/CN112737208A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05187511A (en) * | 1992-01-13 | 1993-07-27 | Nippon Seiko Kk | Ball screw driving and control device |
| JP2002266973A (en) * | 2001-03-12 | 2002-09-18 | Automax Kk | Electric cylinder |
| CN204640221U (en) * | 2015-03-25 | 2015-09-16 | 苏州大学 | A kind of two-freedom manipulator of integrated form and control system thereof |
| CN108803688A (en) * | 2018-06-25 | 2018-11-13 | 华南理工大学 | A kind of Synchronous motion control device and method of rotary motion and linear movement |
| CN210629261U (en) * | 2019-10-28 | 2020-05-26 | 上海狄兹精密机械股份有限公司 | Stepping servo actuator based on closed-loop control |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115664104A (en) * | 2022-11-03 | 2023-01-31 | 上海狄兹精密机械股份有限公司 | ZR executor of high accuracy control power |
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