CN117895837A - Coaxial combined stepping motor and motion control method thereof - Google Patents
Coaxial combined stepping motor and motion control method thereof Download PDFInfo
- Publication number
- CN117895837A CN117895837A CN202310449097.3A CN202310449097A CN117895837A CN 117895837 A CN117895837 A CN 117895837A CN 202310449097 A CN202310449097 A CN 202310449097A CN 117895837 A CN117895837 A CN 117895837A
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- spline
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- driving part
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- 230000033001 locomotion Effects 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims description 13
- 238000004804 winding Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/40—Special adaptations for controlling two or more stepping motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/12—Control or stabilisation of current
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a coaxial combined stepping motor which is used for converting electric energy into linear and rotary motion and comprises a first stepping driving part, a second stepping driving part and a spline screw, wherein a rotor assembly central shaft of the first stepping driving part is a screw rod nut, a rotor assembly central shaft of the second stepping driving part is a spline shaft sleeve, a spline groove matched with the screw rod nut in the rotor assembly and an axial key groove matched with the spline shaft sleeve are arranged on the surface of the spline screw rod, the first stepping driving part and the second stepping driving part are coaxially stacked, and the spline screw is nested in the screw rod nut and the spline shaft sleeve of the rotor assembly. The stepping motor can realize linear and rotary motion on the same shaft, and has the advantages of compact structure, flexible stroke configuration, small occupied space and convenient assembly and maintenance.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a coaxial combined stepping motor and a motion control method thereof.
Background
In the field of automatic equipment such as chip mounters and horizontal multi-joint robots, rotation and linear combined motion control is often required, and in the prior art, two separate motors are usually adopted, and rotation and linear motion are realized through combination of a stepping motor and an external mechanical transmission device. The chip mounter usually adopts a combination of a stepping motor sliding table and a hollow shaft stepping motor to realize rotation and linear motion of a component suction nozzle, and the horizontal multi-joint robot usually adopts two motors to respectively drive a spline sleeve and a screw nut through a synchronous belt to realize rotation and linear motion of a spline screw.
Chinese patent publication No. CN209627138U discloses a motor capable of outputting multiple degrees of freedom of axial rectilinear motion and circumferential rotary motion, and adopts a screw rod end elastic member to cooperate with a rotor end pin hole, so that uniaxial rotation and rectilinear motion can be realized, but the main problems of the patent are: the center shaft of the motor needs to linearly move to a specific position to be converted into circumferential rotary motion, and the application occasions are limited; chinese patent publication No. CN113472166a discloses a double-motion motor, which adopts the overlapping of a penetrating screw motor and a hollow shaft motor, and realizes the combined motion of coaxial rotation and straight line by penetrating a screw shaft through the hollow shaft, but the main problems of the patent are: the motor rotation axis and the linear axis are separately arranged, which is basically driven by two shafts respectively, the rotation and the linear motion can not be realized on the same shaft, and when the motor rotation axis and the linear motion are required, an external mechanical device is still required to be configured, and the application occasions are limited.
In view of the foregoing, there is still a need in the art for a stepper motor that is compact, requires no external device, has flexible stroke configuration, is suitable for application in space-limited places, and can realize linear and rotational movements in a single shaft.
Disclosure of Invention
The invention mainly aims to provide a coaxial combined stepping motor and a motion control method thereof, which are used for solving the defects in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is to provide a coaxial combined stepping motor, which comprises a first stepping driving part, a second stepping driving part and a spline screw. The first stepping driving part consists of a first stator component, a first rotor component, a first front end cover, a first rear end cover and a rotor bearing, wherein two ends of the first rotor component are respectively supported in an inner cavity of the first stator component through the rotor bearings arranged in the first front end cover and the first rear end cover, and a central shaft of the first rotor component is a screw nut; the second stepping driving part consists of a second stator assembly, a second rotor assembly, a second front end cover, a second rear end cover and a rotor bearing, wherein two ends of the second rotor assembly are respectively supported in an inner cavity of the second stator assembly through the rotor bearings arranged in the second front end cover and the second rear end cover, and a central shaft of the second rotor assembly is a spline shaft sleeve; the surface of the spline screw rod is provided with a screw groove matched with a screw nut in the first rotor assembly and an axial key groove matched with a spline shaft sleeve in the second rotor assembly; the first stepping driving part and the second stepping driving part are arranged to be coaxially stacked, and the spline screw rod is nested in the screw nut of the first rotor assembly and the spline shaft sleeve of the second rotor assembly.
Optionally, the screw nut is a sliding screw nut or a ball screw nut.
Optionally, the spline shaft sleeve adopts a sliding spline shaft sleeve or a ball spline shaft sleeve.
Optionally, the spline lead screw axle center is provided with a through hole along the axial direction.
Optionally, the first rear end cover and the second front end cover of the first step driving part and the second step driving part are of an integral structure.
The invention also provides a motion control method of the coaxial combined stepping motor, and the working states of the coaxial combined stepping motor comprise linear motion, rotary motion and locking.
a) The control step of the linear motion state comprises the following steps: (1) Applying a direct current to the control winding of the second stator assembly to cause the second rotor assembly to be in a locked state; (2) Applying control pulse current to the control winding of the first stator assembly to enable the first rotor assembly to rotate at a constant speed, and enabling the spline screw rod to conduct linear motion under the rotation action of the screw rod nut of the rotor assembly;
b) The control method of the rotary motion state comprises the following steps: synchronously applying control pulse current to the first stator assembly and the second stator assembly to enable the first rotor assembly and the second rotor assembly to synchronously rotate, and enabling the spline screw rod to rotate under the rotation drive of the spline shaft sleeve, wherein the spline screw rod and the screw nut synchronously rotate;
c) The control method of the locking state comprises the following steps: and synchronously applying direct current to the control windings of the first stator assembly and the second stator assembly to ensure that the first rotor assembly and the second rotor assembly are in a locking state at the same time, and the spline lead screw is locked in the lead screw nut and the spline shaft sleeve.
By adopting the technical scheme, compared with the prior art, the invention has the following advantages: the screw nut and the spline shaft sleeve are arranged in the stepping driving part body, and only one spline screw rod is used for realizing linear and rotary motion, so that an external device is not needed, the structure is compact, and the device is suitable for being applied to places with limited space; the straightness of the spline screw rod in linear motion is mainly determined by the coaxiality of the spline shaft sleeve and the spline screw rod, so that the rotation deviation introduced by the radial gap of the screw rod nut can be basically eliminated, and the straightness of the spline screw rod in motion is ensured; the stepping driving part and the spline lead screw can be arranged separately, the linear motion stroke is determined only by arranging spline lead screws with different lengths, the product arrangement is flexible, and the application range is wide; the spline screw can be assembled, disassembled and replaced on site, so that the assembly and maintenance of products are facilitated.
Drawings
Fig. 1 is a schematic cross-sectional view of an embodiment of a coaxial combination stepper motor.
Fig. 2 is an oblique view of a coaxial combination stepper motor.
Fig. 3 is a schematic view of the structure of the lead screw nut, spline shaft sleeve and spline lead screw.
Fig. 4 is a schematic cross-sectional view of another embodiment of a coaxial combination stepper motor.
Fig. 5 is a schematic diagram of the motion control principle of the coaxial combination stepper motor of the present invention.
In the figure: 100. a coaxial combination type stepping motor; 10. a first step driving section; 11. a first stator assembly; 12. a first rotor assembly; 13. a first front end cap; 14. a first rear end cap; 15. a lead screw nut; 16. an internal thread; 20. a second step driving section; 21. a second stator assembly; 22. a second rotor assembly; 23. a second front end cap; 24. a second rear end cap; 25. a spline shaft sleeve; 26. an internal spline; 30. spline lead screw; 31. a helical groove; 32. an axial keyway; 33. a through hole; 40. a rotor bearing; 50. a hollow gasket; 60. a direct current; 70. pulse current.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific examples: fig. 1 is a schematic cross-sectional view of an embodiment of a coaxial combination stepper motor. The coaxial combination stepper motor 100 includes a first stepper drive section 10, a second stepper drive section 20, and a spline lead screw 30. The first step driving part consists of a first stator assembly 11, a first rotor assembly 12, a first front end cover 13, a first rear end cover 14 and a rotor bearing 40, wherein two ends of the first rotor assembly 12 are respectively supported in an inner cavity of the first stator assembly 11 through the rotor bearings 4 arranged in the first front end cover 13 and the first rear end cover 14, and a central shaft of the first rotor assembly 12 is a screw nut 13; the second step driving part 20 consists of a second stator assembly 21, a second rotor assembly 22, a second front end cover 23, a second rear end cover 24 and a rotor bearing 40, wherein two ends of the second rotor assembly 22 are respectively supported in an inner cavity of the second stator assembly 21 through the rotor bearings 40 arranged in the second front end cover 23 and the second rear end cover 24, and a central shaft of the second rotor assembly 22 is a spline shaft sleeve 25; the surface of the spline screw 30 is provided with a spiral groove 31 matched with the screw nut 14 in the first rotor assembly 12 and an axial key groove 32 matched with the spline shaft sleeve 23 in the second rotor assembly 22; the first step driving part 10 and the second step driving part 20 are coaxially stacked and connected into a whole through a locking screw; the spline lead screw 30 is nested in the lead screw nut 13 of the first rotor assembly 12 and the spline sleeve 23 of the second rotor assembly 22.
The first step driving part 10 and the second step driving part 20 are in the standard specifications of general step motors such as 28, 35, 39, 42, 57, 60, 86, 110 and the like or other suitable specifications.
The screw nut 15 is a sliding screw nut, a ball screw nut or other suitable type of screw nut.
The spline housing 25 is a sliding spline housing, a ball spline housing, or other suitable type of spline linear housing.
The first step driving part 10 and the second step driving part 20 are inserted with a hollow gasket 50 at a stacking position to eliminate the influence of the end cover protruding part on the flatness of the end surface, and the first front end cover 13, the first rear end cover 14, the second front end cover 23 and the second rear end cover 24 are fixedly connected through locking screws.
Fig. 2 is an oblique view of a coaxial combination stepper motor. The coaxial combination stepper motor 100 includes a first stepper drive 10, a second stepper drive 20, and a spline lead screw 30. The first step driving part 10 and the second step driving part 20 are coaxially stacked and connected into a whole through a locking screw; the spline screw 30 is nested in the screw nut of the step drive 10 and the spline sleeve of the second step drive 20.
Fig. 3 is a schematic view of the structure of the screw nut, spline shaft sleeve and spline screw. The inner surface of the screw nut 15 is provided with an internal thread 16, and the outer surface of the screw nut 15 is fixed on the central shaft of the first rotor core; the inner surface of the spline shaft sleeve 25 is provided with an internal spline 26, and the outer surface of the spline shaft sleeve 25 is fixed on the middle shaft of the second rotor core; the external surface of the spline screw 30 is provided with a spiral groove 31 matched with the screw nut 15 and an axial key groove 32 matched with the spline shaft sleeve 25, and the axis of the spline screw 30 is provided with a through hole 33 along the axial direction.
Fig. 4 is a schematic cross-sectional view of another embodiment of a coaxial combination stepper motor. The coaxial combination stepper motor 100 includes a first stepper driving part 10, a second stepper driving part 20 and a spline screw 30, the first rear end cover 14 and the second front end cover 13 of the first stepper driving part 10 and the second stepper driving part 20 are in an integral structure, the rotor bearings 40 are arranged on two sides of the end covers 13 and 24 in the integral structure, and the rest of the structure is the same as the previous embodiment.
Fig. 5 is a schematic diagram of the motion control principle of the coaxial combination stepper motor of the present invention. The working states comprise three states of linear motion, rotary motion and locking: the control step of the rectilinear motion state is as shown in fig. 5 (a): (1) Applying a constant direct current 60 to the control winding of the second stator assembly 21 to place the second rotor assembly 22 in a locked state; (2) Applying a control pulse current 70 to the control winding of the first stator assembly 11 to enable the first rotor assembly 12 to rotate, and enabling the spline screw 30 to linearly move under the rotation action of the screw nut 15 of the first rotor assembly; the control method of the rotary motion state is as shown in fig. 5 (b): synchronously applying a control pulse current 70 to the first stator assembly 11 and the second stator assembly 21 to enable the first rotor assembly 12 and the second rotor assembly 22 to synchronously rotate, and enabling the spline lead screw 30 to rotate under the rotation drive of the spline shaft sleeve 25, wherein the spline lead screw 30 and the lever lead screw nut 15 synchronously rotate; the control method of the lock state is as shown in fig. 5 (c): the constant direct current 60 is synchronously applied to the control windings of the first stator assembly 11 and the second stator assembly 21, causing the first rotor assembly 12 and the second rotor assembly 22 to be simultaneously in a locked state, the spline lead screw 30 being locked in the lead screw nut 15 and the spline shaft sleeve 25.
The foregoing is merely illustrative of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention, and therefore, the scope of the present invention shall be defined by the scope of the appended claims.
Claims (6)
1. A coaxial combined stepping motor is used for converting electric energy into linear and rotary motion and comprises a first stepping driving part, a second stepping driving part and a spline screw rod. The method is characterized in that: the first stepping driving part consists of a first stator component, a first rotor component, a first front end cover, a first rear end cover and a rotor bearing, wherein two ends of the first rotor component are respectively supported in an inner cavity of the first stator component through the rotor bearings arranged in the first front end cover and the first rear end cover, and a central shaft of the first rotor component is a screw nut; the second stepping driving part consists of a second stator assembly, a second rotor assembly, a second front end cover, a second rear end cover and a rotor bearing, wherein two ends of the second rotor assembly are respectively supported in an inner cavity of the second stator assembly through the rotor bearings arranged in the second front end cover and the second rear end cover, and a central shaft of the second rotor assembly is a spline shaft sleeve; the surface of the spline screw rod is provided with a screw groove matched with a screw nut in the first rotor assembly and an axial key groove matched with a spline shaft sleeve in the second rotor assembly; the first stepping driving part and the second stepping driving part are coaxially stacked, and the spline screw rod is nested in the screw rod nut of the first rotor assembly and the spline shaft sleeve of the second rotor assembly.
2. The coaxial combination stepper motor of claim 1, wherein the screw nut is a sliding screw nut or a ball screw nut.
3. A coaxial combination stepper motor according to claims 1 and 2, wherein the spline sleeve is a sliding spline sleeve or a ball spline sleeve.
4. A coaxial combination stepper motor as defined in claims 1-3, wherein the spline shaft is provided with an axial through hole.
5. The coaxial combination stepper motor of claims 1-4, wherein the first back end cap and the second front end cap of the first stepper drive and the second stepper drive are of unitary construction.
6. The motion control method of the coaxial combined stepping motor comprises the following working states of linear motion, rotary motion and locking: a) The control step of the linear motion state comprises the following steps: (1) Applying a direct current to the control winding of the second stator assembly to cause the second rotor assembly to be in a locked state; (2) And applying control pulse current to the control winding of the first stator assembly to enable the first rotor assembly to rotate at a constant speed, and enabling the spline screw rod to conduct linear motion under the rotation action of the screw rod nut of the rotor assembly. b) The control method of the rotary motion state comprises the following steps: and synchronously applying control pulse current to the first stator assembly and the second stator assembly to enable the first rotor assembly and the second rotor assembly to synchronously rotate, and enabling the spline screw to rotate under the rotation drive of the spline shaft sleeve, so that the spline screw and the screw nut synchronously rotate. c) The control method of the locking state comprises the following steps: and synchronously applying direct current to the control windings of the first stator assembly and the second stator assembly to ensure that the first rotor assembly and the second rotor assembly are in a locking state at the same time, and the spline lead screw is locked in the lead screw nut and the spline shaft sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310449097.3A CN117895837A (en) | 2023-04-24 | 2023-04-24 | Coaxial combined stepping motor and motion control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310449097.3A CN117895837A (en) | 2023-04-24 | 2023-04-24 | Coaxial combined stepping motor and motion control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117895837A true CN117895837A (en) | 2024-04-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310449097.3A Pending CN117895837A (en) | 2023-04-24 | 2023-04-24 | Coaxial combined stepping motor and motion control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117895837A (en) |
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2023
- 2023-04-24 CN CN202310449097.3A patent/CN117895837A/en active Pending
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